fp@186: #!/usr/bin/perl
fp@186: 
fp@186: #------------------------------------------------------------------------------
fp@186: #
fp@316: #  l s e c  -  List EtherCAT
fp@186: #
fp@186: #  Userspace tool for listing EtherCAT slaves.
fp@186: #
fp@258: #  $Id$
fp@186: #
fp@197: #  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@197: #
fp@197: #  This file is part of the IgH EtherCAT Master.
fp@197: #
fp@197: #  The IgH EtherCAT Master is free software; you can redistribute it
fp@197: #  and/or modify it under the terms of the GNU General Public License
fp@246: #  as published by the Free Software Foundation; either version 2 of the
fp@246: #  License, or (at your option) any later version.
fp@197: #
fp@197: #  The IgH EtherCAT Master is distributed in the hope that it will be
fp@197: #  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@197: #  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@197: #  GNU General Public License for more details.
fp@197: #
fp@197: #  You should have received a copy of the GNU General Public License
fp@197: #  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@197: #  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@197: #
fp@246: #  The right to use EtherCAT Technology is granted and comes free of
fp@246: #  charge under condition of compatibility of product made by
fp@246: #  Licensee. People intending to distribute/sell products based on the
fp@246: #  code, have to sign an agreement to guarantee that products using
fp@246: #  software based on IgH EtherCAT master stay compatible with the actual
fp@246: #  EtherCAT specification (which are released themselves as an open
fp@246: #  standard) as the (only) precondition to have the right to use EtherCAT
fp@246: #  Technology, IP and trade marks.
fp@246: #
fp@186: #------------------------------------------------------------------------------
fp@186: 
fp@357: require 'sys/ioctl.ph';
fp@357: 
fp@186: use strict;
fp@186: use Getopt::Std;
fp@186: 
fp@358: my %opt;
fp@186: my $master_index;
fp@186: my $master_dir;
fp@357: my $term_width;
fp@186: 
fp@186: #------------------------------------------------------------------------------
fp@186: 
fp@357: $term_width = &get_terminal_width;
fp@186: &get_options;
fp@186: &query_master;
fp@186: exit 0;
fp@186: 
fp@186: #------------------------------------------------------------------------------
fp@186: 
fp@186: sub query_master
fp@186: {
fp@186:     $master_dir = "/sys/ethercat" . $master_index;
fp@186:     &query_slaves;
fp@186: }
fp@186: 
fp@186: #------------------------------------------------------------------------------
fp@186: 
fp@186: sub query_slaves
fp@186: {
fp@186:     my $dirhandle;
fp@186:     my $entry;
fp@186:     my @slaves;
fp@186:     my $slave;
fp@188:     my $abs;
fp@358:     my $line;
fp@358:     my $ring_cols;
fp@358:     my $adv_cols;
fp@358:     my $fmt;
fp@358:     my $cols;
fp@186: 
fp@186:     unless (opendir $dirhandle, $master_dir) {
fp@325: 		print "Failed to open directory \"$master_dir\".\n";
fp@325: 		exit 1;
fp@186:     }
fp@186: 
fp@186:     while ($entry = readdir $dirhandle) {
fp@186:         next unless $entry =~ /^slave(\d+)$/;
fp@186: 
fp@325: 		$slave = {};
fp@186: 
fp@325: 		open INFO, "$master_dir/$entry/info" or die
fp@325: 			"ERROR: Failed to open $master_dir/$entry/info";
fp@325: 
fp@325: 		while ($line = <INFO>) {
fp@325: 			if ($line =~ /^Name: (.*)$/) {
fp@325: 				$slave->{'name'} = $1;
fp@325: 			}
fp@325: 			elsif ($line =~ /^Ring position: (\d+)$/) {
fp@325: 				$slave->{'ring_position'} = $1;
fp@325: 			}
fp@325: 			elsif ($line =~ /^Advanced position: (\d+:\d+)$/) {
fp@325: 				$slave->{'advanced_position'} = $1;
fp@325: 			}
fp@519: 			elsif ($line =~ /^State: (.+) /) {
fp@325: 				$slave->{'state'} = $1;
fp@325: 			}
fp@357: 			elsif ($line =~ /^Coupler: ([a-z]+)$/) {
fp@357: 				$slave->{'coupler'} = $1;
fp@357: 			}
fp@499: 			elsif ($line =~ /^Current consumption: (-?\d+) mA$/) {
fp@499: 				$slave->{'current'} = $1;
fp@499: 			}
fp@325: 		}
fp@325: 
fp@325: 		close INFO;
fp@325: 
fp@325: 		push @slaves, $slave;
fp@186:     }
fp@186:     closedir $dirhandle;
fp@186: 
fp@186:     @slaves = sort { $a->{'ring_position'} <=> $b->{'ring_position'} } @slaves;
fp@186: 
fp@358:     $ring_cols = 0;
fp@358:     $adv_cols = 0;
fp@186:     for $slave (@slaves) {
fp@358: 	$cols = length $slave->{'ring_position'};
fp@358: 	$ring_cols = $cols if ($cols > $ring_cols);
fp@358: 	$cols = length $slave->{'advanced_position'};
fp@358: 	$adv_cols = $cols if ($cols > $adv_cols);
fp@358:     }
fp@499: 
fp@499:     if (defined $opt{'c'}) { # display power consumtion
fp@499: 	$fmt = sprintf " %%%is  %%-%is  %%6i  %%6i  %%s\n",
fp@499: 	    $ring_cols, $adv_cols;
fp@499: 
fp@499: 	my $current_sum = 0;
fp@499: 	for $slave (@slaves) {
fp@499: 	    if ($slave->{'coupler'} eq "yes") {
fp@499: 		&print_line if !defined $opt{n};
fp@499: 		$current_sum = 0; # reset current sum
fp@499: 	    }
fp@499: 	    $current_sum -= $slave->{'current'};
fp@499: 	    printf($fmt, $slave->{'ring_position'},
fp@499: 		   $slave->{'advanced_position'}, $slave->{'current'},
fp@499: 		   $current_sum, $slave->{'name'});
fp@499: 	}
fp@499:     }
fp@499:     else {
fp@499: 	$fmt = sprintf " %%%is  %%-%is  %%-6s  %%s\n", $ring_cols, $adv_cols;
fp@499: 
fp@499: 	for $slave (@slaves) {
fp@499: 	    &print_line if $slave->{'coupler'} eq "yes" and !defined $opt{n};
fp@499: 	    printf($fmt, $slave->{'ring_position'},
fp@499: 		   $slave->{'advanced_position'}, $slave->{'state'},
fp@499: 		   $slave->{'name'});
fp@499: 	}
fp@186:     }
fp@186: }
fp@186: 
fp@186: #------------------------------------------------------------------------------
fp@186: 
fp@186: sub get_options
fp@186: {
fp@499:     my $optret = getopts "m:cnh", \%opt;
fp@186: 
fp@358:     &print_usage if defined $opt{h} or $#ARGV > -1 or !$optret;
fp@186: 
fp@358:     if (defined $opt{m}) {
fp@358: 	$master_index = $opt{m};
fp@186:     }
fp@186:     else {
fp@358: 	$master_index = 0;
fp@186:     }
fp@186: }
fp@186: 
fp@186: #------------------------------------------------------------------------------
fp@186: 
fp@186: sub print_usage
fp@186: {
fp@358:     my $cmd = `basename $0`;
fp@358:     chomp $cmd;
fp@325:     print "Usage: $cmd [OPTIONS]\n";
fp@257:     print "        -m <IDX>    Query master <IDX>.\n";
fp@499:     print "        -c          Display current [mA] ";
fp@499:     print "(3: consumption, 4: remaining).\n";
fp@358:     print "        -n          Display no coupler lines.\n";
fp@186:     print "        -h          Show this help.\n";
fp@186:     exit 0;
fp@186: }
fp@186: 
fp@186: #------------------------------------------------------------------------------
fp@358: 
fp@358: sub get_terminal_width
fp@358: {
fp@358:     my $winsize;
fp@358:     die "no TIOCGWINSZ " unless defined &TIOCGWINSZ;
fp@358:     open(TTY, "+</dev/tty") or die "No tty: $!";
fp@358:     unless (ioctl(TTY, &TIOCGWINSZ, $winsize='')) {
fp@358: 	die sprintf "$0: ioctl TIOCGWINSZ (%08x: $!)\n", &TIOCGWINSZ;
fp@358:     }
fp@358:     (my $row, my $col, my $xpixel, my $ypixel) = unpack('S4', $winsize);
fp@358:     return $col;
fp@358: }
fp@358: #------------------------------------------------------------------------------
fp@358: 
fp@358: sub print_line
fp@358: {
fp@358:     for (my $i = 0; $i < $term_width; $i++) {print "-";}
fp@358:     print "\n";
fp@358: }
fp@358: 
fp@358: #------------------------------------------------------------------------------