script/ethercatctl.in
author Knud Baastrup <kba@deif.com>
Tue, 14 Apr 2015 10:12:55 -0400
changeset 2625 e25af8bd3957
parent 2589 2b9c78543663
permissions -rwxr-xr-x
Eoe mac address now derived from unique mac.
The EoE MAC address is now derived from the NIC part of the first global
unique MAC address of the linked list of available network interfaces or
otherwise the MAC address used by the EtherCAT master. The EoE MAC address
will get the format 02:NIC:NIC:NIC:RP:RP where NIC comes from the unique MAC
address (if available) and RP is the ring position of the EoE slave.
#!/bin/sh

#------------------------------------------------------------------------------
#
#  Start script for EtherCAT to use with systemd
#
#  $Id$
#
#  Copyright (C) 2006-2012  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 version 2, as
#  published by the Free Software Foundation.
#
#  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 license mentioned above concerns the source code only. Using the
#  EtherCAT technology and brand is only permitted in compliance with the
#  industrial property and similar rights of Beckhoff Automation GmbH.
#
#  vim: expandtab sw=4 tw=78
#
#------------------------------------------------------------------------------

LSMOD=/sbin/lsmod
MODPROBE=/sbin/modprobe
RMMOD=/sbin/rmmod
MODINFO=/sbin/modinfo

ETHERCAT=@prefix@/bin/ethercat

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

ETHERCAT_CONFIG=/etc/ethercat.conf

if [ ! -r ${ETHERCAT_CONFIG} ]; then
    echo ${ETHERCAT_CONFIG} not existing;
    exit 6
fi

. ${ETHERCAT_CONFIG}

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

parse_mac_address() {
    if [ -z "${1}" ]; then
        MAC=""
    elif echo ${1} | grep -qE '^([0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}$'; then
        MAC=${1}
    else
        echo Invalid MAC address \"${1}\" in ${ETHERCAT_CONFIG}
        exit 1
    fi
}

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

case "${1}" in

start)
    # construct DEVICES and BACKUPS from configuration variables
    DEVICES=""
    BACKUPS=""
    MASTER_INDEX=0

    while true; do
        DEVICE=$(eval echo "\${MASTER${MASTER_INDEX}_DEVICE}")
        BACKUP=$(eval echo "\${MASTER${MASTER_INDEX}_BACKUP}")
        if [ -z "${DEVICE}" ]; then break; fi

        if [ ${MASTER_INDEX} -gt 0 ]; then
            DEVICES=${DEVICES},
            BACKUPS=${BACKUPS},
        fi

        parse_mac_address ${DEVICE}
        DEVICES=${DEVICES}${MAC}

        parse_mac_address ${BACKUP}
        BACKUPS=${BACKUPS}${MAC}

        MASTER_INDEX=$(expr ${MASTER_INDEX} + 1)
    done

    # load master module
    if ! ${MODPROBE} ${MODPROBE_FLAGS} ec_master \
            main_devices=${DEVICES} backup_devices=${BACKUPS}; then
        exit 1
    fi

    LOADED_MODULES=ec_master

    # check for modules to replace
    for MODULE in ${DEVICE_MODULES}; do
        ECMODULE=ec_${MODULE}
        if ! ${MODINFO} ${ECMODULE} > /dev/null; then
            continue # ec_* module not found
        fi

        if [ ${MODULE} != "generic" -a ${MODULE} != "ccat" ]; then
            # try to unload standard module
            if ${LSMOD} | grep "^${MODULE} " > /dev/null; then
                if ! ${RMMOD} ${MODULE}; then
                    ${RMMOD} ${LOADED_MODULES}
                    exit 1
                fi
            fi
        fi

        if ! ${MODPROBE} ${MODPROBE_FLAGS} ${ECMODULE}; then
            if [ ${MODULE} != "generic" -a ${MODULE} != "ccat" ]; then
                ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE} # try to restore
            fi
            ${RMMOD} ${LOADED_MODULES}
            exit 1
        fi

        LOADED_MODULES="${ECMODULE} ${LOADED_MODULES}"
    done

    exit 0
    ;;

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

stop)
    # unload EtherCAT device modules
    for MODULE in ${DEVICE_MODULES} master; do
        ECMODULE=ec_${MODULE}
        if ! ${LSMOD} | grep -q "^${ECMODULE} "; then
            continue # ec_* module not loaded
        fi
        if ! ${RMMOD} ${ECMODULE}; then
            exit 1
        fi;
    done

    sleep 1

    # load standard modules again
    for MODULE in ${DEVICE_MODULES}; do
        if [ ${MODULE} == "generic" -o ${MODULE} == "ccat" ]; then
            continue
        fi
        ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE}
    done

    exit 0
    ;;

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

restart)
    $0 stop || exit 1
    sleep 1
    $0 start
    ;;

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

status)
    echo "Checking for EtherCAT master @VERSION@ "

    # count masters in configuration file
    MASTER_COUNT=0
    while true; do
        DEVICE=$(eval echo "\${MASTER${MASTER_COUNT}_DEVICE}")
        if [ -z "${DEVICE}" ]; then break; fi
        MASTER_COUNT=$(expr ${MASTER_COUNT} + 1)
    done

    RESULT=0

    for i in `seq 0 $(expr ${MASTER_COUNT} - 1)`; do
        echo -n "Master${i} "

        # Check if the master is in idle or operation phase
        ${ETHERCAT} master --master ${i} 2>/dev/null | \
            grep -qE 'Phase:[[:space:]]*Idle|Phase:[[:space:]]*Operation'
        EXITCODE=$?

        if [ ${EXITCODE} -eq 0 ]; then
            echo " running"
        else
            echo " dead"
            RESULT=1
        fi
    done

    exit ${RESULT}
    ;;

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

*)
    echo "USAGE: $0 {start|stop|restart|status}"
    exit 1
    ;;
esac

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