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1 #!/bin/sh |
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2 |
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3 #------------------------------------------------------------------------------ |
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4 # |
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5 # Start script for EtherCAT to use with systemd |
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6 # |
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7 # $Id$ |
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8 # |
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9 # Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH |
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10 # |
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11 # This file is part of the IgH EtherCAT Master. |
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12 # |
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13 # The IgH EtherCAT Master is free software; you can redistribute it and/or |
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14 # modify it under the terms of the GNU General Public License version 2, as |
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15 # published by the Free Software Foundation. |
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16 # |
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17 # The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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18 # but WITHOUT ANY WARRANTY; without even the implied warranty of |
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19 # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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20 # Public License for more details. |
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21 # |
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22 # You should have received a copy of the GNU General Public License along |
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23 # with the IgH EtherCAT Master; if not, write to the Free Software |
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24 # Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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25 # |
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26 # --- |
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27 # |
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28 # The license mentioned above concerns the source code only. Using the |
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29 # EtherCAT technology and brand is only permitted in compliance with the |
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30 # industrial property and similar rights of Beckhoff Automation GmbH. |
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31 # |
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32 # vim: expandtab sw=4 tw=78 |
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33 # |
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34 #------------------------------------------------------------------------------ |
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35 |
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36 MODPROBE=/sbin/modprobe |
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37 RMMOD=/sbin/rmmod |
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38 MODINFO=/sbin/modinfo |
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39 |
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40 ETHERCAT=@prefix@/bin/ethercat |
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41 |
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42 #------------------------------------------------------------------------------ |
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43 |
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44 ETHERCAT_CONFIG=/etc/ethercat.conf |
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45 |
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46 if [ ! -r ${ETHERCAT_CONFIG} ]; then |
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47 echo ${ETHERCAT_CONFIG} not existing; |
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48 exit 6 |
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49 fi |
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50 |
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51 . ${ETHERCAT_CONFIG} |
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52 |
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53 #------------------------------------------------------------------------------ |
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54 |
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55 parse_mac_address() { |
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56 if [ -z "${1}" ]; then |
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57 MAC="" |
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58 elif echo ${1} | grep -qE '^([0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}$'; then |
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59 MAC=${1} |
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60 else |
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61 echo Invalid MAC address \"${1}\" in ${ETHERCAT_CONFIG} |
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62 exit 1 |
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63 fi |
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64 } |
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65 |
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66 #------------------------------------------------------------------------------ |
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67 |
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68 case "${1}" in |
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69 |
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70 start) |
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71 # construct DEVICES and BACKUPS from configuration variables |
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72 DEVICES="" |
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73 BACKUPS="" |
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74 MASTER_INDEX=0 |
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75 |
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76 while true; do |
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77 DEVICE=$(eval echo "\${MASTER${MASTER_INDEX}_DEVICE}") |
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78 BACKUP=$(eval echo "\${MASTER${MASTER_INDEX}_BACKUP}") |
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79 if [ -z "${DEVICE}" ]; then break; fi |
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80 |
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81 if [ ${MASTER_INDEX} -gt 0 ]; then |
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82 DEVICES=${DEVICES}, |
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83 BACKUPS=${BACKUPS}, |
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84 fi |
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85 |
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86 parse_mac_address ${DEVICE} |
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87 DEVICES=${DEVICES}${MAC} |
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88 |
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89 parse_mac_address ${BACKUP} |
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90 BACKUPS=${BACKUPS}${MAC} |
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91 |
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92 MASTER_INDEX=$(expr ${MASTER_INDEX} + 1) |
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93 done |
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94 |
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95 # load master module |
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96 if ! ${MODPROBE} ${MODPROBE_FLAGS} ec_master \ |
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97 main_devices=${DEVICES} backup_devices=${BACKUPS}; then |
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98 exit 1 |
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99 fi |
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100 |
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101 LOADED_MODULES=ec_master |
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102 |
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103 # check for modules to replace |
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104 for MODULE in ${DEVICE_MODULES}; do |
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105 ECMODULE=ec_${MODULE} |
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106 if ! ${MODINFO} ${ECMODULE} > /dev/null; then |
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107 continue # ec_* module not found |
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108 fi |
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109 |
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110 if [ ${MODULE} != "generic" ]; then |
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111 # try to unload standard module |
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112 if lsmod | grep "^${MODULE} " > /dev/null; then |
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113 if ! ${RMMOD} ${MODULE}; then |
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114 ${RMMOD} ${LOADED_MODULES} |
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115 exit 1 |
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116 fi |
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117 fi |
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118 fi |
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119 |
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120 if ! ${MODPROBE} ${MODPROBE_FLAGS} ${ECMODULE}; then |
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121 if [ ${MODULE} != "generic" ]; then |
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122 ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE} # try to restore |
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123 fi |
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124 ${RMMOD} ${LOADED_MODULES} |
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125 exit 1 |
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126 fi |
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127 |
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128 LOADED_MODULES=${ECMODULE} ${LOADED_MODULES} |
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129 done |
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130 |
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131 exit 0 |
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132 ;; |
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133 |
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134 #------------------------------------------------------------------------------ |
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135 |
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136 stop) |
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137 # unload EtherCAT device modules |
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138 for MODULE in ${DEVICE_MODULES} master; do |
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139 ECMODULE=ec_${MODULE} |
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140 if ! lsmod | grep -q "^${ECMODULE} "; then |
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141 continue # ec_* module not loaded |
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142 fi |
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143 if ! ${RMMOD} ${ECMODULE}; then |
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144 exit 1 |
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145 fi; |
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146 done |
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147 |
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148 sleep 1 |
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149 |
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150 # load standard modules again |
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151 for MODULE in ${DEVICE_MODULES}; do |
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152 if [ ${MODULE} == "generic" ]; then |
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153 continue |
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154 fi |
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155 ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE} |
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156 done |
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157 |
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158 exit 0 |
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159 ;; |
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160 |
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161 #------------------------------------------------------------------------------ |
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162 |
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163 restart) |
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164 $0 stop || exit 1 |
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165 sleep 1 |
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166 $0 start |
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167 ;; |
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168 |
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169 #------------------------------------------------------------------------------ |
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170 |
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171 status) |
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172 echo "Checking for EtherCAT master @VERSION@ " |
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173 |
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174 # count masters in configuration file |
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175 MASTER_COUNT=0 |
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176 while true; do |
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177 DEVICE=$(eval echo "\${MASTER${MASTER_COUNT}_DEVICE}") |
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178 if [ -z "${DEVICE}" ]; then break; fi |
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179 MASTER_COUNT=$(expr ${MASTER_COUNT} + 1) |
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180 done |
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181 |
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182 RESULT=0 |
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183 |
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184 for i in `seq 0 $(expr ${MASTER_COUNT} - 1)`; do |
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185 echo -n "Master${i} " |
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186 |
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187 # Check if the master is in idle or operation phase |
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188 ${ETHERCAT} master --master ${i} 2>/dev/null | \ |
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189 grep -qE 'Phase:[[:space:]]*Idle|Phase:[[:space:]]*Operation' |
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190 EXITCODE=$? |
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191 |
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192 if [ ${EXITCODE} -eq 0 ]; then |
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193 echo " running" |
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194 else |
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195 echo " dead" |
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196 RESULT=1 |
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197 fi |
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198 done |
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199 |
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200 exit ${RESULT} |
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201 ;; |
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202 |
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203 #------------------------------------------------------------------------------ |
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204 |
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205 *) |
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206 echo "USAGE: $0 {start|stop|restart|status}" |
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207 exit 1 |
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208 ;; |
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209 esac |
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210 |
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211 #------------------------------------------------------------------------------ |