|
1 #!/usr/bin/perl |
|
2 |
|
3 #------------------------------------------------------------------------------ |
|
4 # |
|
5 # l s e c - List EtherCAT |
|
6 # |
|
7 # Userspace tool for listing EtherCAT slaves. |
|
8 # |
|
9 # $Id$ |
|
10 # |
|
11 # Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
|
12 # |
|
13 # This file is part of the IgH EtherCAT Master. |
|
14 # |
|
15 # The IgH EtherCAT Master is free software; you can redistribute it |
|
16 # and/or modify it under the terms of the GNU General Public License |
|
17 # as published by the Free Software Foundation; either version 2 of the |
|
18 # License, or (at your option) any later version. |
|
19 # |
|
20 # The IgH EtherCAT Master is distributed in the hope that it will be |
|
21 # useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
22 # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
23 # GNU General Public License for more details. |
|
24 # |
|
25 # You should have received a copy of the GNU General Public License |
|
26 # along with the IgH EtherCAT Master; if not, write to the Free Software |
|
27 # Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
|
28 # |
|
29 # The right to use EtherCAT Technology is granted and comes free of |
|
30 # charge under condition of compatibility of product made by |
|
31 # Licensee. People intending to distribute/sell products based on the |
|
32 # code, have to sign an agreement to guarantee that products using |
|
33 # software based on IgH EtherCAT master stay compatible with the actual |
|
34 # EtherCAT specification (which are released themselves as an open |
|
35 # standard) as the (only) precondition to have the right to use EtherCAT |
|
36 # Technology, IP and trade marks. |
|
37 # |
|
38 #------------------------------------------------------------------------------ |
|
39 |
|
40 require 'sys/ioctl.ph'; |
|
41 |
|
42 use strict; |
|
43 use Getopt::Std; |
|
44 |
|
45 my %opt; |
|
46 my $master_index; |
|
47 my $master_dir; |
|
48 my $term_width; |
|
49 |
|
50 #------------------------------------------------------------------------------ |
|
51 |
|
52 $term_width = &get_terminal_width; |
|
53 &get_options; |
|
54 &query_master; |
|
55 exit 0; |
|
56 |
|
57 #------------------------------------------------------------------------------ |
|
58 |
|
59 sub query_master |
|
60 { |
|
61 $master_dir = "/sys/ethercat" . $master_index; |
|
62 &query_slaves; |
|
63 } |
|
64 |
|
65 #------------------------------------------------------------------------------ |
|
66 |
|
67 sub query_slaves |
|
68 { |
|
69 my $dirhandle; |
|
70 my $entry; |
|
71 my @slaves; |
|
72 my $slave; |
|
73 my $abs; |
|
74 my $line; |
|
75 my $ring_cols; |
|
76 my $adv_cols; |
|
77 my $fmt; |
|
78 my $cols; |
|
79 |
|
80 unless (opendir $dirhandle, $master_dir) { |
|
81 print "Failed to open directory \"$master_dir\".\n"; |
|
82 exit 1; |
|
83 } |
|
84 |
|
85 while ($entry = readdir $dirhandle) { |
|
86 next unless $entry =~ /^slave(\d+)$/; |
|
87 |
|
88 $slave = {}; |
|
89 |
|
90 open INFO, "$master_dir/$entry/info" or die |
|
91 "ERROR: Failed to open $master_dir/$entry/info"; |
|
92 |
|
93 while ($line = <INFO>) { |
|
94 if ($line =~ /^Name: (.*)$/) { |
|
95 $slave->{'name'} = $1; |
|
96 } |
|
97 elsif ($line =~ /^Ring position: (\d+)$/) { |
|
98 $slave->{'ring_position'} = $1; |
|
99 } |
|
100 elsif ($line =~ /^Advanced position: (\d+:\d+)$/) { |
|
101 $slave->{'advanced_position'} = $1; |
|
102 } |
|
103 elsif ($line =~ /^State: (.+) /) { |
|
104 $slave->{'state'} = $1; |
|
105 } |
|
106 elsif ($line =~ /^Coupler: ([a-z]+)$/) { |
|
107 $slave->{'coupler'} = $1; |
|
108 } |
|
109 elsif ($line =~ /^Current consumption: (-?\d+) mA$/) { |
|
110 $slave->{'current'} = $1; |
|
111 } |
|
112 } |
|
113 |
|
114 close INFO; |
|
115 |
|
116 push @slaves, $slave; |
|
117 } |
|
118 closedir $dirhandle; |
|
119 |
|
120 @slaves = sort { $a->{'ring_position'} <=> $b->{'ring_position'} } @slaves; |
|
121 |
|
122 $ring_cols = 0; |
|
123 $adv_cols = 0; |
|
124 for $slave (@slaves) { |
|
125 $cols = length $slave->{'ring_position'}; |
|
126 $ring_cols = $cols if ($cols > $ring_cols); |
|
127 $cols = length $slave->{'advanced_position'}; |
|
128 $adv_cols = $cols if ($cols > $adv_cols); |
|
129 } |
|
130 |
|
131 if (defined $opt{'c'}) { # display power consumtion |
|
132 $fmt = sprintf " %%%is %%-%is %%6i %%6i %%s\n", |
|
133 $ring_cols, $adv_cols; |
|
134 |
|
135 my $current_sum = 0; |
|
136 for $slave (@slaves) { |
|
137 if ($slave->{'coupler'} eq "yes") { |
|
138 &print_line if !defined $opt{n}; |
|
139 $current_sum = 0; # reset current sum |
|
140 } |
|
141 $current_sum -= $slave->{'current'}; |
|
142 printf($fmt, $slave->{'ring_position'}, |
|
143 $slave->{'advanced_position'}, $slave->{'current'}, |
|
144 $current_sum, $slave->{'name'}); |
|
145 } |
|
146 } |
|
147 else { |
|
148 $fmt = sprintf " %%%is %%-%is %%-6s %%s\n", $ring_cols, $adv_cols; |
|
149 |
|
150 for $slave (@slaves) { |
|
151 &print_line if $slave->{'coupler'} eq "yes" and !defined $opt{n}; |
|
152 printf($fmt, $slave->{'ring_position'}, |
|
153 $slave->{'advanced_position'}, $slave->{'state'}, |
|
154 $slave->{'name'}); |
|
155 } |
|
156 } |
|
157 } |
|
158 |
|
159 #------------------------------------------------------------------------------ |
|
160 |
|
161 sub get_options |
|
162 { |
|
163 my $optret = getopts "m:cnh", \%opt; |
|
164 |
|
165 &print_usage if defined $opt{h} or $#ARGV > -1 or !$optret; |
|
166 |
|
167 if (defined $opt{m}) { |
|
168 $master_index = $opt{m}; |
|
169 } |
|
170 else { |
|
171 $master_index = 0; |
|
172 } |
|
173 } |
|
174 |
|
175 #------------------------------------------------------------------------------ |
|
176 |
|
177 sub print_usage |
|
178 { |
|
179 my $cmd = `basename $0`; |
|
180 chomp $cmd; |
|
181 print "Usage: $cmd [OPTIONS]\n"; |
|
182 print " -m <IDX> Query master <IDX>.\n"; |
|
183 print " -c Display current [mA] "; |
|
184 print "(3: consumption, 4: remaining).\n"; |
|
185 print " -n Display no coupler lines.\n"; |
|
186 print " -h Show this help.\n"; |
|
187 exit 0; |
|
188 } |
|
189 |
|
190 #------------------------------------------------------------------------------ |
|
191 |
|
192 sub get_terminal_width |
|
193 { |
|
194 my $winsize; |
|
195 die "no TIOCGWINSZ " unless defined &TIOCGWINSZ; |
|
196 open(TTY, "+</dev/tty") or die "No tty: $!"; |
|
197 unless (ioctl(TTY, &TIOCGWINSZ, $winsize='')) { |
|
198 die sprintf "$0: ioctl TIOCGWINSZ (%08x: $!)\n", &TIOCGWINSZ; |
|
199 } |
|
200 (my $row, my $col, my $xpixel, my $ypixel) = unpack('S4', $winsize); |
|
201 return $col; |
|
202 } |
|
203 #------------------------------------------------------------------------------ |
|
204 |
|
205 sub print_line |
|
206 { |
|
207 for (my $i = 0; $i < $term_width; $i++) {print "-";} |
|
208 print "\n"; |
|
209 } |
|
210 |
|
211 #------------------------------------------------------------------------------ |