1 #!/usr/bin/perl |
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2 |
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3 #------------------------------------------------------------------------------ |
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4 # |
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5 # e c _ l i s t . p l |
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6 # |
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7 # Userspace tool for listing EtherCAT slaves. |
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8 # |
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9 # $Id: slave.c 340 2006-04-11 10:17:30Z fp $ |
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10 # |
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11 # Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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12 # |
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13 # This file is part of the IgH EtherCAT Master. |
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14 # |
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15 # The IgH EtherCAT Master is free software; you can redistribute it |
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16 # and/or modify it under the terms of the GNU General Public License |
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17 # as published by the Free Software Foundation; either version 2 of the |
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18 # License, or (at your option) any later version. |
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19 # |
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20 # The IgH EtherCAT Master is distributed in the hope that it will be |
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21 # useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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22 # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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23 # GNU General Public License for more details. |
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24 # |
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25 # You should have received a copy of the GNU General Public License |
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26 # along with the IgH EtherCAT Master; if not, write to the Free Software |
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27 # Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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28 # |
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29 # The right to use EtherCAT Technology is granted and comes free of |
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30 # charge under condition of compatibility of product made by |
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31 # Licensee. People intending to distribute/sell products based on the |
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32 # code, have to sign an agreement to guarantee that products using |
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33 # software based on IgH EtherCAT master stay compatible with the actual |
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34 # EtherCAT specification (which are released themselves as an open |
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35 # standard) as the (only) precondition to have the right to use EtherCAT |
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36 # Technology, IP and trade marks. |
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37 # |
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38 #------------------------------------------------------------------------------ |
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39 |
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40 use strict; |
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41 use Getopt::Std; |
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42 |
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43 my $master_index; |
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44 my $master_dir; |
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45 |
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46 #------------------------------------------------------------------------------ |
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47 |
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48 &get_options; |
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49 &query_master; |
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50 exit 0; |
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51 |
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52 #------------------------------------------------------------------------------ |
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53 |
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54 sub query_master |
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55 { |
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56 $master_dir = "/sys/ethercat" . $master_index; |
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57 &query_slaves; |
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58 } |
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59 |
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60 #------------------------------------------------------------------------------ |
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61 |
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62 sub query_slaves |
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63 { |
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64 my $dirhandle; |
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65 my $slave_dir; |
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66 my $entry; |
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67 my $slave_index; |
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68 my $file_name; |
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69 my $vendor_name; |
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70 my @slaves; |
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71 my $slave; |
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72 my $abs; |
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73 |
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74 unless (opendir $dirhandle, $master_dir) { |
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75 print "Failed to open directory \"$master_dir\".\n"; |
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76 exit 1; |
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77 } |
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78 |
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79 while ($entry = readdir $dirhandle) { |
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80 next unless $entry =~ /^slave(\d+)$/; |
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81 $slave_dir = $master_dir . "/" . $entry; |
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82 |
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83 $slave = {}; |
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84 $slave->{'ring_position'} = |
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85 &read_integer("$slave_dir/ring_position"); |
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86 $slave->{'coupler_address'} = |
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87 &read_string("$slave_dir/coupler_address"); |
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88 $slave->{'vendor_name'} = |
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89 &read_string("$slave_dir/vendor_name"); |
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90 $slave->{'product_name'} = |
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91 &read_string("$slave_dir/product_name"); |
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92 $slave->{'product_desc'} = |
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93 &read_string("$slave_dir/product_desc"); |
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94 $slave->{'type'} = |
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95 &read_string("$slave_dir/type"); |
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96 |
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97 push @slaves, $slave; |
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98 } |
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99 closedir $dirhandle; |
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100 |
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101 @slaves = sort { $a->{'ring_position'} <=> $b->{'ring_position'} } @slaves; |
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102 |
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103 print "EtherCAT bus listing for master $master_index:\n"; |
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104 for $slave (@slaves) { |
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105 if ($slave->{'type'} eq "coupler") { |
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106 print "--------------------------------------------------------\n"; |
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107 } |
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108 |
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109 $abs = sprintf "%i", $slave->{'ring_position'}; |
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110 printf(" %3s %8s %-12s %-10s %s\n", $abs, |
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111 $slave->{'coupler_address'}, $slave->{'vendor_name'}, |
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112 $slave->{'product_name'}, $slave->{'product_desc'}); |
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113 } |
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114 } |
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115 |
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116 #------------------------------------------------------------------------------ |
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117 |
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118 sub read_string |
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119 { |
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120 (my $file_name) = @_; |
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121 my $data; |
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122 |
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123 $data = `cat $file_name 2>/dev/null`; |
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124 if ($?) { |
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125 print "ERROR: Unable to read string $file_name!\n"; |
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126 exit 1; |
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127 } |
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128 |
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129 chomp $data; |
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130 return $data; |
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131 } |
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132 |
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133 #------------------------------------------------------------------------------ |
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134 |
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135 sub read_integer |
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136 { |
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137 (my $file_name) = @_; |
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138 |
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139 if (`cat $file_name 2>/dev/null` !~ /^(\d+)$/) { |
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140 print "ERROR: Unable to read integer $file_name!\n"; |
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141 exit 1; |
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142 } |
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143 |
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144 return int $1; |
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145 } |
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146 |
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147 #------------------------------------------------------------------------------ |
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148 |
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149 sub get_options |
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150 { |
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151 my %opt; |
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152 my $optret; |
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153 |
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154 $optret = getopts "m:h", \%opt; |
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155 |
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156 &print_usage if defined $opt{'h'} or $#ARGV > -1; |
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157 |
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158 if (defined $opt{'m'}) { |
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159 $master_index = $opt{'m'}; |
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160 } |
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161 else { |
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162 $master_index = 0; |
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163 } |
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164 } |
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165 |
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166 #------------------------------------------------------------------------------ |
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167 |
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168 sub print_usage |
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169 { |
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170 print "Usage: ec_list [OPTIONS]\n"; |
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171 print " -m <IDX> Query master IDX.\n"; |
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172 print " -h Show this help.\n"; |
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173 exit 0; |
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174 } |
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175 |
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176 #------------------------------------------------------------------------------ |
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