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 # $Id$ |
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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 my $show_sii_naming; |
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46 |
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47 #------------------------------------------------------------------------------ |
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48 |
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49 &get_options; |
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50 &query_master; |
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51 exit 0; |
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52 |
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53 #------------------------------------------------------------------------------ |
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54 |
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55 sub query_master |
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56 { |
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57 $master_dir = "/sys/ethercat" . $master_index; |
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58 &query_slaves; |
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59 } |
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60 |
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61 #------------------------------------------------------------------------------ |
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62 |
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63 sub query_slaves |
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64 { |
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65 my $dirhandle; |
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66 my $slave_dir; |
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67 my $entry; |
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68 my $slave_index; |
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69 my $file_name; |
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70 my $vendor_name; |
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71 my @slaves; |
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72 my $slave; |
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73 my $abs; |
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74 |
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75 unless (opendir $dirhandle, $master_dir) { |
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76 print "Failed to open directory \"$master_dir\".\n"; |
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77 exit 1; |
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78 } |
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79 |
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80 while ($entry = readdir $dirhandle) { |
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81 next unless $entry =~ /^slave(\d+)$/; |
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82 $slave_dir = $master_dir . "/" . $entry; |
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83 |
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84 $slave = {}; |
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85 $slave->{'ring_position'} = |
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86 &read_integer("$slave_dir/ring_position"); |
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87 $slave->{'coupler_address'} = |
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88 &read_string("$slave_dir/coupler_address"); |
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89 unless ($show_sii_naming) { |
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90 $slave->{'vendor_name'} = |
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91 &read_string("$slave_dir/vendor_name"); |
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92 $slave->{'product_name'} = |
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93 &read_string("$slave_dir/product_name"); |
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94 $slave->{'product_desc'} = |
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95 &read_string("$slave_dir/product_desc"); |
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96 } |
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97 else { |
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98 $slave->{'sii_name'} = |
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99 &read_string("$slave_dir/sii_name"); |
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100 } |
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101 $slave->{'type'} = |
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102 &read_string("$slave_dir/type"); |
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103 |
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104 push @slaves, $slave; |
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105 } |
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106 closedir $dirhandle; |
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107 |
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108 @slaves = sort { $a->{'ring_position'} <=> $b->{'ring_position'} } @slaves; |
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109 |
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110 print "EtherCAT bus listing for master $master_index:\n"; |
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111 for $slave (@slaves) { |
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112 if ($slave->{'type'} eq "coupler") { |
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113 print "--------------------------------------------------------\n"; |
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114 } |
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115 |
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116 $abs = sprintf "%i", $slave->{'ring_position'}; |
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117 printf(" %3s %8s ", $abs, $slave->{'coupler_address'}); |
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118 unless ($show_sii_naming) { |
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119 printf("%-12s %-10s %s\n", $slave->{'vendor_name'}, |
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120 $slave->{'product_name'}, $slave->{'product_desc'}); |
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121 } |
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122 else { |
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123 printf("%s\n", $slave->{'sii_name'}); |
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124 } |
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125 } |
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126 } |
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127 |
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128 #------------------------------------------------------------------------------ |
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129 |
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130 sub read_string |
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131 { |
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132 (my $file_name) = @_; |
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133 my $data; |
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134 |
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135 $data = `cat $file_name 2>/dev/null`; |
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136 if ($?) { |
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137 print "ERROR: Unable to read string $file_name!\n"; |
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138 exit 1; |
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139 } |
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140 |
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141 chomp $data; |
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142 return $data; |
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143 } |
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144 |
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145 #------------------------------------------------------------------------------ |
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146 |
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147 sub read_integer |
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148 { |
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149 (my $file_name) = @_; |
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150 |
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151 if (`cat $file_name 2>/dev/null` !~ /^(\d+)$/) { |
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152 print "ERROR: Unable to read integer $file_name!\n"; |
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153 exit 1; |
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154 } |
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155 |
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156 return int $1; |
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157 } |
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158 |
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159 #------------------------------------------------------------------------------ |
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160 |
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161 sub get_options |
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162 { |
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163 my %opt; |
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164 my $optret; |
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165 |
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166 $optret = getopts "m:sh", \%opt; |
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167 |
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168 &print_usage if defined $opt{'h'} or $#ARGV > -1 or !$optret; |
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169 |
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170 if (defined $opt{'m'}) { |
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171 $master_index = $opt{'m'}; |
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172 } |
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173 else { |
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174 $master_index = 0; |
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175 } |
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176 |
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177 $show_sii_naming = defined $opt{'s'}; |
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178 } |
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179 |
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180 #------------------------------------------------------------------------------ |
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181 |
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182 sub print_usage |
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183 { |
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184 print "Usage: ec_list [OPTIONS]\n"; |
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185 print " -m <IDX> Query master <IDX>.\n"; |
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186 print " -s Show SII naming instead of"; |
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187 print " vendor/product/description.\n"; |
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188 print " -h Show this help.\n"; |
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189 exit 0; |
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190 } |
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191 |
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192 #------------------------------------------------------------------------------ |
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