#!/usr/bin/perl

#------------------------------------------------------------------------------
#
#  l s e c  -  List EtherCAT
#
#  Userspace tool for listing EtherCAT slaves.
#
#  $Id$
#
#  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
#
#  This file is part of the IgH EtherCAT Master.
#
#  The IgH EtherCAT Master is free software; you can redistribute it
#  and/or modify it under the terms of the GNU General Public License
#  as published by the Free Software Foundation; either version 2 of the
#  License, or (at your option) any later version.
#
#  The IgH EtherCAT Master is distributed in the hope that it will be
#  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
#  GNU General Public License for more details.
#
#  You should have received a copy of the GNU General Public License
#  along with the IgH EtherCAT Master; if not, write to the Free Software
#  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
#
#  The right to use EtherCAT Technology is granted and comes free of
#  charge under condition of compatibility of product made by
#  Licensee. People intending to distribute/sell products based on the
#  code, have to sign an agreement to guarantee that products using
#  software based on IgH EtherCAT master stay compatible with the actual
#  EtherCAT specification (which are released themselves as an open
#  standard) as the (only) precondition to have the right to use EtherCAT
#  Technology, IP and trade marks.
#
#------------------------------------------------------------------------------

require 'sys/ioctl.ph';

use strict;
use Getopt::Std;

my %opt;
my $master_index;
my $term_width;

#------------------------------------------------------------------------------

$term_width = &get_terminal_width;
&get_options;
&query;
exit 0;

#------------------------------------------------------------------------------

sub query
{
    my $master_dir;
    my $dirhandle;
    my $entry;
    my $slave_info_file;
    my @slaves;
    my $slave;
    my $line;
    my $ring_col_width;
    my $alias_col_width;
    my $fmt;
    my $width;
    my $last_alias;
    my $alias_index;
    my $category;

    $master_dir = "/sys/ethercat/master" . $master_index;

    unless (opendir $dirhandle, $master_dir) {
        print "Failed to open directory \"$master_dir\".\n";
        exit 1;
    }

    while ($entry = readdir $dirhandle) {
        next unless $entry =~ /^slave(\d+)$/;

        $slave = {};
        $slave->{'current'} = 0;
        $slave_info_file = "$master_dir/$entry/info"; 
        open INFO, $slave_info_file or die
            "ERROR: Failed to open $slave_info_file.";

        $category = "";
        while ($line = <INFO>) {
            # remember category
            if ($line =~ /^([^\s][^:]*):$/) {
                $category = $1;
            } elsif ($line =~ /^\s*$/) {
                $category = "";
            }

            if ($category eq "") {
                if ($line =~ /^Ring position: (\d+)$/) {
                    $slave->{'ring_position'} = $1;
                } elsif ($line =~ /^State: (.+) /) {
                    $slave->{'state'} = $1;
                } elsif ($line =~ /^Configured station alias: .* \((\d+)\)$/) {
                    $slave->{'alias'} = $1;
                }
            } elsif ($category eq "Identity") {
                if ($line =~ /Vendor ID: .* \((\d+)\)$/) {
                    $slave->{'vendor'} = $1;
                } elsif ($line =~ /Product code: .* \((\d+)\)$/) {
                    $slave->{'product'} = $1;
                }
            } elsif ($category eq "General") {
                if ($line =~ /Name: (.*)$/) {
                    $slave->{'name'} = $1;
                } elsif ($line =~ /Current consumption: (-?\d+) mA$/) {
                    $slave->{'current'} = $1;
                }
            }
        }

        close INFO;
        push @slaves, $slave;
    }
    closedir $dirhandle;

    @slaves = sort { $a->{'ring_position'} <=> $b->{'ring_position'} } @slaves;

    # create field addresses and calculate column widths
    $ring_col_width = 0;
    $alias_col_width = 0;
    $last_alias = "";
    for $slave (@slaves) {
        if ($slave->{'alias'}) {
            $last_alias = $slave->{'alias'};
            $alias_index = 0;
        }
        if ($last_alias) {
            $slave->{'field_address'} = "#" . $last_alias . ":" . $alias_index;
            $width = length $slave->{'field_address'};
            $alias_col_width = $width if ($width > $alias_col_width);
        }
        $width = length $slave->{'ring_position'};
        $ring_col_width = $width if ($width > $ring_col_width);
        $alias_index++;
    }

    # replace empty name with vendor id and product code
    for $slave (@slaves) {
        unless (defined $slave->{'name'}) {
            $slave->{'name'} = sprintf("0x%08X:0x%08X", $slave->{'vendor'},
                    $slave->{'product'});
        }
    }

    if (defined $opt{'c'}) { # display power consumtion
        $fmt = sprintf " %%%is  %%%is  %%6i  %%6i  %%s\n",
            $ring_col_width, $alias_col_width;

        my $current_sum = 0;
        for $slave (@slaves) {
            &print_line if $slave->{'alias'} and !defined $opt{n};
            $current_sum = 0 if $slave->{'current'} < 0;
            $current_sum -= $slave->{'current'};
            printf($fmt, $slave->{'ring_position'}, $slave->{'field_address'},
                    $slave->{'current'}, $current_sum, $slave->{'name'});
        }
    }
    else { # normal display
        $fmt = sprintf " %%%is  %%%is  %%-6s  %%s\n",
            $ring_col_width, $alias_col_width;

        for $slave (@slaves) {
            &print_line if $slave->{'alias'} and !defined $opt{n};
            printf($fmt, $slave->{'ring_position'}, $slave->{'field_address'},
                    $slave->{'state'}, $slave->{'name'});
        }
    }
}

#------------------------------------------------------------------------------

sub get_options
{
    my $optret = getopts "m:cnh", \%opt;

    &print_usage if defined $opt{h} or $#ARGV > -1 or !$optret;

    if (defined $opt{m}) {
        $master_index = $opt{m};
    }
    else {
        $master_index = 0;
    }
}

#------------------------------------------------------------------------------

sub print_usage
{
    my $cmd = `basename $0`;
    chomp $cmd;
    print "Usage: $cmd [OPTIONS]\n";
    print "        -m <IDX>    Query master <IDX>.\n";
    print "        -c          Display current [mA] ";
    print "(3: consumption, 4: remaining).\n";
    print "        -n          Do not display lines before aliased slaves.\n";
    print "        -h          Show this help.\n";
    exit 0;
}

#------------------------------------------------------------------------------

sub get_terminal_width
{
    my $winsize;
    die "no TIOCGWINSZ " unless defined &TIOCGWINSZ;
    open(TTY, "+</dev/tty") or die "No tty: $!";
    unless (ioctl(TTY, &TIOCGWINSZ, $winsize='')) {
        die sprintf "$0: ioctl TIOCGWINSZ (%08x: $!)\n", &TIOCGWINSZ;
    }
    (my $row, my $col, my $xpixel, my $ypixel) = unpack('S4', $winsize);
    return $col;
}
#------------------------------------------------------------------------------

sub print_line
{
    for (my $i = 0; $i < $term_width; $i++) {
        print "-";
    }
    print "\n";
}

#------------------------------------------------------------------------------