fp@563: #!/usr/bin/perl
fp@563:
fp@563: #------------------------------------------------------------------------------
fp@563: #
fp@563: # l s e c - List EtherCAT
fp@563: #
fp@563: # Userspace tool for listing EtherCAT slaves.
fp@563: #
fp@563: # $Id$
fp@563: #
fp@563: # Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
fp@563: #
fp@563: # This file is part of the IgH EtherCAT Master.
fp@563: #
fp@563: # The IgH EtherCAT Master is free software; you can redistribute it
fp@563: # and/or modify it under the terms of the GNU General Public License
fp@563: # as published by the Free Software Foundation; either version 2 of the
fp@563: # License, or (at your option) any later version.
fp@563: #
fp@563: # The IgH EtherCAT Master is distributed in the hope that it will be
fp@563: # useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@563: # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
fp@563: # GNU General Public License for more details.
fp@563: #
fp@563: # You should have received a copy of the GNU General Public License
fp@563: # along with the IgH EtherCAT Master; if not, write to the Free Software
fp@563: # Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
fp@563: #
fp@563: # The right to use EtherCAT Technology is granted and comes free of
fp@563: # charge under condition of compatibility of product made by
fp@563: # Licensee. People intending to distribute/sell products based on the
fp@563: # code, have to sign an agreement to guarantee that products using
fp@563: # software based on IgH EtherCAT master stay compatible with the actual
fp@563: # EtherCAT specification (which are released themselves as an open
fp@563: # standard) as the (only) precondition to have the right to use EtherCAT
fp@563: # Technology, IP and trade marks.
fp@563: #
fp@563: #------------------------------------------------------------------------------
fp@563:
fp@563: require 'sys/ioctl.ph';
fp@563:
fp@563: use strict;
fp@563: use Getopt::Std;
fp@563:
fp@563: my %opt;
fp@563: my $master_index;
fp@563: my $term_width;
fp@563:
fp@563: #------------------------------------------------------------------------------
fp@563:
fp@563: $term_width = &get_terminal_width;
fp@563: &get_options;
fp@576: &query;
fp@563: exit 0;
fp@563:
fp@563: #------------------------------------------------------------------------------
fp@563:
fp@576: sub query
fp@576: {
fp@576: my $master_dir;
fp@563: my $dirhandle;
fp@563: my $entry;
fp@563: my @slaves;
fp@563: my $slave;
fp@563: my $abs;
fp@563: my $line;
fp@563: my $ring_cols;
fp@563: my $adv_cols;
fp@563: my $fmt;
fp@563: my $cols;
fp@563:
fp@576: $master_dir = "/sys/ethercat/master" . $master_index;
fp@576:
fp@563: unless (opendir $dirhandle, $master_dir) {
fp@563: print "Failed to open directory \"$master_dir\".\n";
fp@563: exit 1;
fp@563: }
fp@563:
fp@563: while ($entry = readdir $dirhandle) {
fp@563: next unless $entry =~ /^slave(\d+)$/;
fp@563:
fp@563: $slave = {};
fp@563:
fp@563: open INFO, "$master_dir/$entry/info" or die
fp@563: "ERROR: Failed to open $master_dir/$entry/info";
fp@563:
fp@563: while ($line = <INFO>) {
fp@563: if ($line =~ /^Name: (.*)$/) {
fp@563: $slave->{'name'} = $1;
fp@563: }
fp@563: elsif ($line =~ /^Ring position: (\d+)$/) {
fp@563: $slave->{'ring_position'} = $1;
fp@563: }
fp@563: elsif ($line =~ /^Advanced position: (\d+:\d+)$/) {
fp@563: $slave->{'advanced_position'} = $1;
fp@563: }
fp@563: elsif ($line =~ /^State: (.+) /) {
fp@563: $slave->{'state'} = $1;
fp@563: }
fp@563: elsif ($line =~ /^Coupler: ([a-z]+)$/) {
fp@563: $slave->{'coupler'} = $1;
fp@563: }
fp@563: elsif ($line =~ /^Current consumption: (-?\d+) mA$/) {
fp@563: $slave->{'current'} = $1;
fp@563: }
fp@563: }
fp@563:
fp@563: close INFO;
fp@563:
fp@563: push @slaves, $slave;
fp@563: }
fp@563: closedir $dirhandle;
fp@563:
fp@563: @slaves = sort { $a->{'ring_position'} <=> $b->{'ring_position'} } @slaves;
fp@563:
fp@563: $ring_cols = 0;
fp@563: $adv_cols = 0;
fp@563: for $slave (@slaves) {
fp@563: $cols = length $slave->{'ring_position'};
fp@563: $ring_cols = $cols if ($cols > $ring_cols);
fp@563: $cols = length $slave->{'advanced_position'};
fp@563: $adv_cols = $cols if ($cols > $adv_cols);
fp@563: }
fp@563:
fp@563: if (defined $opt{'c'}) { # display power consumtion
fp@563: $fmt = sprintf " %%%is %%-%is %%6i %%6i %%s\n",
fp@563: $ring_cols, $adv_cols;
fp@563:
fp@563: my $current_sum = 0;
fp@563: for $slave (@slaves) {
fp@563: if ($slave->{'coupler'} eq "yes") {
fp@563: &print_line if !defined $opt{n};
fp@563: $current_sum = 0; # reset current sum
fp@563: }
fp@563: $current_sum -= $slave->{'current'};
fp@563: printf($fmt, $slave->{'ring_position'},
fp@563: $slave->{'advanced_position'}, $slave->{'current'},
fp@563: $current_sum, $slave->{'name'});
fp@563: }
fp@563: }
fp@563: else {
fp@563: $fmt = sprintf " %%%is %%-%is %%-6s %%s\n", $ring_cols, $adv_cols;
fp@563:
fp@563: for $slave (@slaves) {
fp@563: &print_line if $slave->{'coupler'} eq "yes" and !defined $opt{n};
fp@563: printf($fmt, $slave->{'ring_position'},
fp@563: $slave->{'advanced_position'}, $slave->{'state'},
fp@563: $slave->{'name'});
fp@563: }
fp@563: }
fp@563: }
fp@563:
fp@563: #------------------------------------------------------------------------------
fp@563:
fp@563: sub get_options
fp@563: {
fp@563: my $optret = getopts "m:cnh", \%opt;
fp@563:
fp@563: &print_usage if defined $opt{h} or $#ARGV > -1 or !$optret;
fp@563:
fp@563: if (defined $opt{m}) {
fp@563: $master_index = $opt{m};
fp@563: }
fp@563: else {
fp@563: $master_index = 0;
fp@563: }
fp@563: }
fp@563:
fp@563: #------------------------------------------------------------------------------
fp@563:
fp@563: sub print_usage
fp@563: {
fp@563: my $cmd = `basename $0`;
fp@563: chomp $cmd;
fp@563: print "Usage: $cmd [OPTIONS]\n";
fp@563: print " -m <IDX> Query master <IDX>.\n";
fp@563: print " -c Display current [mA] ";
fp@563: print "(3: consumption, 4: remaining).\n";
fp@563: print " -n Display no coupler lines.\n";
fp@563: print " -h Show this help.\n";
fp@563: exit 0;
fp@563: }
fp@563:
fp@563: #------------------------------------------------------------------------------
fp@563:
fp@563: sub get_terminal_width
fp@563: {
fp@563: my $winsize;
fp@563: die "no TIOCGWINSZ " unless defined &TIOCGWINSZ;
fp@563: open(TTY, "+</dev/tty") or die "No tty: $!";
fp@563: unless (ioctl(TTY, &TIOCGWINSZ, $winsize='')) {
fp@563: die sprintf "$0: ioctl TIOCGWINSZ (%08x: $!)\n", &TIOCGWINSZ;
fp@563: }
fp@563: (my $row, my $col, my $xpixel, my $ypixel) = unpack('S4', $winsize);
fp@563: return $col;
fp@563: }
fp@563: #------------------------------------------------------------------------------
fp@563:
fp@563: sub print_line
fp@563: {
fp@563: for (my $i = 0; $i < $term_width; $i++) {print "-";}
fp@563: print "\n";
fp@563: }
fp@563:
fp@563: #------------------------------------------------------------------------------