#!/bin/sh
#------------------------------------------------------------------------------
#
# MSR Init Script
#
# $Id$
#
#------------------------------------------------------------------------------
### BEGIN INIT INFO
# Provides: msr
# Required-Start: $local_fs $syslog $network
# Should-Start: $time ntp ethercat
# Required-Stop: $local_fs $syslog $network
# Should-Stop: $time ntp ethercat
# Default-Start: 3 5
# Default-Stop: 0 1 2 6
# Short-Description: MSR module
# Description:
### END INIT INFO
#------------------------------------------------------------------------------
# <Customizing>
NAME="MSR EtherCAT sample"
BASE=/opt/etherlab
MSR_SERVER=$BASE/bin/msrserv.pl
MODULE=ec_msr_sample
RTAI_PATH=/usr/realtime
RTAI_MODULES="hal up" # sem math
DEVICE=msr
DEVMASK=664
GROUP=users
# </Customizing>
#------------------------------------------------------------------------------
. /etc/rc.status
rc_reset
#------------------------------------------------------------------------------
case "$1" in
start)
echo -n Starting $NAME" "
# Insert RTAI modules
for mod in $RTAI_MODULES; do
if ! lsmod | grep -q "^rtai_$mod"; then
if ! insmod $RTAI_PATH/modules/rtai_$mod.ko; then
/bin/false
rc_status -v
rc_exit
fi
fi
done
# Insert realtime module
if ! modprobe $MODULE; then
/bin/false
rc_status -v
rc_exit
fi
#sleep 2
# Create MSR device
MAJOR=`cat /proc/devices | awk "\\$2==\"$DEVICE\" {print \\$1}"`
rm -f /dev/${DEVICE}
mknod /dev/${DEVICE} c $MAJOR 0
chgrp $GROUP /dev/${DEVICE}
chmod $DEVMASK /dev/${DEVICE}
#sleep 1
# Start MSR-Server
startproc $MSR_SERVER 1>/dev/null 2>/dev/null
rc_status -v
;;
stop)
echo -n Shutting down $NAME" "
if ! killproc $MSR_SERVER; then
/bin/false
rc_status -v
rc_exit
fi
if ! /sbin/rmmod $MODULE; then
/bin/false
rc_status -v
rc_exit
fi
# Remove stale nodes
rm -f /dev/${DEVICE} /dev/${DEVICE}0
rc_status -v
;;
restart)
$0 stop || exit 1
sleep 1
$0 start
rc_status
;;
status)
echo -n "Checking for MSR module: "
/sbin/lsmod | grep -q "^$MODULE"
rc_status -v
echo -n "Checking for MSR server: "
checkproc $MSR_SERVER
rc_status -v
;;
*)
echo "Usage: $0 {start|stop|status|restart}"
exit 1
;;
esac
rc_exit