fp@563: #!/bin/sh
fp@563: 
fp@563: #------------------------------------------------------------------------------
fp@563: #
fp@563: #  Init script for EtherCAT
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: ### BEGIN INIT INFO
fp@563: # Provides:          ethercat
fp@563: # Required-Start:    $local_fs $syslog $network
fp@563: # Should-Start:      $time ntp
fp@563: # Required-Stop:     $local_fs $syslog $network
fp@563: # Should-Stop:       $time ntp
fp@563: # Default-Start:     3 5
fp@563: # Default-Stop:      0 1 2 6
fp@1185: # Short-Description: EtherCAT master
fp@1185: # Description:       EtherCAT master @VERSION@
fp@563: ### END INIT INFO
fp@563: 
fp@563: #------------------------------------------------------------------------------
fp@563: 
fp@698: MODPROBE=/sbin/modprobe
fp@698: RMMOD=/sbin/rmmod
fp@698: MODINFO=/sbin/modinfo
fp@1185: ETHERCAT=@prefix@/bin/ethercat
fp@563: 
fp@563: #------------------------------------------------------------------------------
fp@563: 
fp@563: ETHERCAT_CONFIG=/etc/sysconfig/ethercat
fp@563: 
fp@573: if [ ! -r ${ETHERCAT_CONFIG} ]; then
fp@588:     echo ${ETHERCAT_CONFIG} not existing;
fp@573:     if [ "${1}" = "stop" ]; then
fp@563: 	exit 0
fp@563:     else
fp@563: 	exit 6
fp@563:     fi
fp@563: fi
fp@563: 
fp@573: . ${ETHERCAT_CONFIG}
fp@573: 
fp@573: #------------------------------------------------------------------------------
fp@573: 
fp@698: function exit_success()
fp@698: {
fp@698:     if [ -r /etc/rc.status ]; then
fp@698:         rc_reset
fp@698:         rc_status -v
fp@698:         rc_exit
fp@698:     else
fp@698:         echo " done"
fp@698:         exit 0
fp@698:     fi
fp@698: }
fp@698: 
fp@698: #------------------------------------------------------------------------------
fp@698: 
fp@698: function exit_fail()
fp@698: {
fp@698:     if [ -r /etc/rc.status ]; then
fp@698:         rc_failed
fp@702:         rc_status -v
fp@698:         rc_exit
fp@698:     else
fp@698:         echo " failed"
fp@698:         exit 1
fp@698:     fi
fp@698: }
fp@698: 
fp@698: #------------------------------------------------------------------------------
fp@698: 
fp@1185: function print_running()
fp@1185: {
fp@1185:     if [ -r /etc/rc.status ]; then
fp@1185:         rc_reset
fp@1185:         rc_status -v
fp@1185:     else
fp@1185:         echo " running"
fp@1185:     fi
fp@1185: }
fp@1185: 
fp@1185: #------------------------------------------------------------------------------
fp@1185: 
fp@1185: function print_dead()
fp@702: {
fp@702:     if [ -r /etc/rc.status ]; then
fp@702:         rc_failed
fp@702:         rc_status -v
fp@702:     else
fp@702:         echo " dead"
fp@702:     fi
fp@702: }
fp@702: 
fp@702: #------------------------------------------------------------------------------
fp@702: 
fp@639: function parse_mac_address()
fp@563: {
fp@573:     if [ -z "${1}" ]; then
fp@639:         MAC=""
fp@573:     elif echo ${1} | grep -qE '^([0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}$'; then
fp@639:         MAC=${1}
fp@573:     else
fp@639:         echo Invalid MAC address \"${1}\" in ${ETHERCAT_CONFIG}
fp@698:         exit_fail
fp@573:     fi 
fp@563: }
fp@563: 
fp@563: #------------------------------------------------------------------------------
fp@563: 
fp@698: if [ -r /etc/rc.status ]; then
fp@698:     . /etc/rc.status
fp@698:     rc_reset
fp@698: fi
fp@563: 
fp@573: case "${1}" in
fp@573: 
fp@573: start)
fp@1185:     echo -n "Starting EtherCAT master @VERSION@"
fp@573: 
fp@573:     # construct DEVICES and BACKUPS from configuration variables
fp@573:     DEVICES=""
fp@573:     BACKUPS=""
fp@573:     MASTER_INDEX=0
fp@573:     while true; do
fp@573:         DEVICE=$(eval echo "\${MASTER${MASTER_INDEX}_DEVICE}")
fp@573:         BACKUP=$(eval echo "\${MASTER${MASTER_INDEX}_BACKUP}")
fp@573:         if [ -z "${DEVICE}" ]; then break; fi
fp@573: 
fp@639:         if [ ${MASTER_INDEX} -gt 0 ]; then
fp@639:             DEVICES=${DEVICES},
fp@639:             BACKUPS=${BACKUPS},
fp@639:         fi
fp@639: 
fp@639:         parse_mac_address ${DEVICE}
fp@639:         DEVICES=${DEVICES}${MAC}
fp@639:         
fp@639:         parse_mac_address ${BACKUP}
fp@639:         BACKUPS=${BACKUPS}${MAC}
fp@573: 
fp@573:         MASTER_INDEX=$(expr ${MASTER_INDEX} + 1)
fp@573:     done
fp@573: 
fp@573:     # load master module
fp@812:     if ! ${MODPROBE} ${MODPROBE_FLAGS} ec_master \
fp@812:             main_devices=${DEVICES} backup_devices=${BACKUPS}; then
fp@698:         exit_fail
fp@573:     fi
fp@573: 
fp@588:     # check for modules to replace
fp@588:     for MODULE in ${DEVICE_MODULES}; do
fp@588:         ECMODULE=ec_${MODULE}
fp@698:         if ! ${MODINFO} ${ECMODULE} > /dev/null; then
fp@698:             continue # ec_* module not found
fp@588:         fi
fp@588:         if lsmod | grep "^${MODULE} " > /dev/null; then
fp@698:             if ! ${RMMOD} ${MODULE}; then
fp@698:                 exit_fail
fp@588:             fi
fp@588:         fi
fp@812:         if ! ${MODPROBE} ${MODPROBE_FLAGS} ${ECMODULE}; then
fp@812:             ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE} # try to restore module
fp@698:             exit_fail
fp@698:         fi
fp@698:     done
fp@698: 
fp@698:     exit_success
fp@588:     ;;
fp@588: 
fp@588: stop)
fp@1185:     echo -n "Shutting down EtherCAT master @VERSION@"
fp@588: 
fp@588:     # unload EtherCAT device modules
fp@588:     for MODULE in ${DEVICE_MODULES} master; do
fp@588:         ECMODULE=ec_${MODULE}
fp@588:         if ! lsmod | grep -q "^${ECMODULE} "; then
fp@698:             continue # ec_* module not loaded
fp@698:         fi
fp@698:         if ! ${RMMOD} ${ECMODULE}; then
fp@698:             exit_fail
fp@573:         fi;
fp@573:     done
fp@573: 
fp@573:     sleep 1
fp@573: 
fp@573:     # reload previous modules
fp@588:     for MODULE in ${DEVICE_MODULES}; do
fp@812:         if ! ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE}; then
fp@588:             echo Warning: Failed to restore ${MODULE}.
fp@588:         fi
fp@588:     done
fp@573: 
fp@698:     exit_success
fp@573:     ;;
fp@573: 
fp@573: restart)
fp@573:     $0 stop || exit 1
fp@573:     sleep 1
fp@573:     $0 start
fp@573:     ;;
fp@573: 
fp@573: status)
fp@1185:     echo "Checking for EtherCAT master @VERSION@"
fp@1185: 
fp@1185:     # count masters in configuration file
fp@1185:     MASTER_COUNT=0
fp@1185:     while true; do
fp@1185:         DEVICE=$(eval echo "\${MASTER${MASTER_COUNT}_DEVICE}")
fp@1185:         if [ -z "${DEVICE}" ]; then break; fi
fp@1185:         MASTER_COUNT=$(expr ${MASTER_COUNT} + 1)
fp@1185:     done
fp@1185: 
fp@1185:     RESULT=0
fp@1185: 
fp@1185:     for i in `seq 0 $(expr ${MASTER_COUNT} - 1)`; do
fp@1185:         echo -n "Master${i}"
fp@1185:         
fp@1185:         # Check if the master is in idle or operation phase
fp@1185:         ${ETHERCAT} master --master ${i} 2>/dev/null | \
fp@1185:             grep -qE 'Phase:[[:space:]]*Idle|Phase:[[:space:]]*Operation'
fp@1185:         EXITCODE=$?
fp@1185: 
fp@1185:         if [ ${EXITCODE} -eq 0 ]; then
fp@1185:             print_running
fp@1185:         else
fp@1185:             print_dead
fp@1185:             RESULT=1
fp@1185:         fi
fp@1185:     done
fp@1185: 
fp@1185:     exit ${RESULT}
fp@573:     ;;
fp@573: 
fp@573: *)
fp@573:     echo "USAGE: $0 {start|stop|restart|status}"
fp@573:     ;;
fp@563: 
fp@563: esac
fp@563: 
fp@698: if [ -r /etc/rc.status ]; then
fp@698:     rc_exit
fp@698: else
fp@698:     exit 1
fp@698: fi
fp@698: 
fp@698: #------------------------------------------------------------------------------