fp@451: #!/bin/sh
fp@451: 
fp@451: #------------------------------------------------------------------------------
fp@451: #
fp@451: #  MSR Init Script
fp@451: #
fp@451: #  $Id$
fp@451: #
fp@451: #------------------------------------------------------------------------------
fp@451: 
fp@451: ### BEGIN INIT INFO
fp@451: # Provides:          msr
fp@451: # Required-Start:    $local_fs $syslog $network
fp@451: # Should-Start:      $time ntp ethercat
fp@451: # Required-Stop:     $local_fs $syslog $network
fp@451: # Should-Stop:       $time ntp ethercat
fp@451: # Default-Start:     3 5
fp@451: # Default-Stop:      0 1 2 6
fp@451: # Short-Description: MSR module
fp@451: # Description:
fp@451: ### END INIT INFO
fp@451: 
fp@451: #------------------------------------------------------------------------------
fp@451: 
fp@451: # <Customizing>
fp@451: 
fp@451: NAME="MSR EtherCAT sample"
fp@451: BASE=/opt/etherlab
fp@451: MSR_SERVER=$BASE/bin/msrserv.pl
fp@451: MODULE=ec_msr_sample
fp@451: RTAI_PATH=/usr/realtime
fp@451: RTAI_MODULES="hal up" # sem math
fp@451: DEVICE=msr
fp@451: DEVMASK=664
fp@451: GROUP=users
fp@451: 
fp@451: # </Customizing>
fp@451: 
fp@451: #------------------------------------------------------------------------------
fp@451: 
fp@451: . /etc/rc.status
fp@451: rc_reset
fp@451: 
fp@451: #------------------------------------------------------------------------------
fp@451: 
fp@451: case "$1" in
fp@451:     start)
fp@451: 	echo -n Starting $NAME" "
fp@451: 
fp@451: 	# Insert RTAI modules
fp@451: 	for mod in $RTAI_MODULES; do
fp@451: 	    if ! lsmod | grep -q "^rtai_$mod"; then
fp@451: 		if ! insmod $RTAI_PATH/modules/rtai_$mod.ko; then
fp@451: 		    /bin/false
fp@451: 		    rc_status -v
fp@451: 		    rc_exit
fp@451: 		fi
fp@451: 	    fi
fp@451: 	done
fp@451: 
fp@451: 	# Insert realtime module
fp@451: 	if ! modprobe $MODULE; then
fp@451: 	    /bin/false
fp@451: 	    rc_status -v
fp@451: 	    rc_exit
fp@451: 	fi
fp@451: 
fp@451: 	#sleep 2
fp@451: 
fp@451: 	# Create MSR device
fp@451: 	MAJOR=`cat /proc/devices | awk "\\$2==\"$DEVICE\" {print \\$1}"`
fp@451: 	rm -f /dev/${DEVICE}
fp@451: 	mknod /dev/${DEVICE} c $MAJOR 0
fp@451: 	chgrp $GROUP /dev/${DEVICE}
fp@451: 	chmod $DEVMASK /dev/${DEVICE}
fp@451: 
fp@451: 	#sleep 1
fp@451: 
fp@451: 	# Start MSR-Server
fp@451: 	startproc $MSR_SERVER 1>/dev/null 2>/dev/null
fp@451: 	rc_status -v
fp@451: 	;;
fp@451: 
fp@451:     stop)
fp@451: 	echo -n Shutting down $NAME" "
fp@451: 
fp@451: 	if ! killproc $MSR_SERVER; then
fp@451: 	    /bin/false
fp@451: 	    rc_status -v
fp@451: 	    rc_exit
fp@451: 	fi
fp@451: 
fp@451: 	if ! /sbin/rmmod $MODULE; then
fp@451: 	    /bin/false
fp@451: 	    rc_status -v
fp@451: 	    rc_exit
fp@451: 	fi
fp@451: 
fp@451: 	# Remove stale nodes
fp@451: 	rm -f /dev/${DEVICE} /dev/${DEVICE}0
fp@451: 
fp@451: 	rc_status -v
fp@451: 	;;
fp@451: 
fp@451:     restart)
fp@451: 	$0 stop || exit 1
fp@451: 	sleep 1
fp@451: 	$0 start
fp@451: 
fp@451: 	rc_status
fp@451: 	;;
fp@451: 
fp@451:     status)
fp@451: 	echo -n "Checking for MSR module: "
fp@451: 	/sbin/lsmod | grep -q "^$MODULE"
fp@451: 	rc_status -v
fp@451: 
fp@451: 	echo -n "Checking for MSR server: "
fp@451: 	checkproc $MSR_SERVER
fp@451: 	rc_status -v
fp@451: 	;;
fp@451: 
fp@451:     *)
fp@451: 	echo "Usage: $0 {start|stop|status|restart}"
fp@451: 	exit 1
fp@451: 	;;
fp@451: esac
fp@451: 
fp@451: rc_exit