fp@186: #!/usr/bin/perl
fp@186: 
fp@186: #------------------------------------------------------------------------------
fp@186: #
fp@186: #  e c _ l i s t . p l
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@186: use strict;
fp@186: use Getopt::Std;
fp@186: 
fp@186: my $master_index;
fp@186: my $master_dir;
fp@264: my $show_sii_naming;
fp@186: 
fp@186: #------------------------------------------------------------------------------
fp@186: 
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 $slave_dir;
fp@186:     my $entry;
fp@186:     my $slave_index;
fp@186:     my $file_name;
fp@186:     my $vendor_name;
fp@186:     my @slaves;
fp@186:     my $slave;
fp@188:     my $abs;
fp@186: 
fp@186:     unless (opendir $dirhandle, $master_dir) {
fp@186: 	print "Failed to open directory \"$master_dir\".\n";
fp@186: 	exit 1;
fp@186:     }
fp@186: 
fp@186:     while ($entry = readdir $dirhandle) {
fp@186:         next unless $entry =~ /^slave(\d+)$/;
fp@186: 	$slave_dir = $master_dir . "/" . $entry;
fp@186: 
fp@186: 	$slave = {};
fp@186: 	$slave->{'ring_position'} =
fp@186: 	    &read_integer("$slave_dir/ring_position");
fp@188: 	$slave->{'coupler_address'} =
fp@188: 	    &read_string("$slave_dir/coupler_address");
fp@264: 	unless ($show_sii_naming) {
fp@257: 	    $slave->{'vendor_name'} =
fp@257: 		&read_string("$slave_dir/vendor_name");
fp@257: 	    $slave->{'product_name'} =
fp@257: 		&read_string("$slave_dir/product_name");
fp@257: 	    $slave->{'product_desc'} =
fp@257: 		&read_string("$slave_dir/product_desc");
fp@257: 	}
fp@257: 	else {
fp@264: 	    $slave->{'sii_name'} =
fp@264: 		&read_string("$slave_dir/sii_name");
fp@257: 	}
fp@186: 	$slave->{'type'} =
fp@186: 	    &read_string("$slave_dir/type");
fp@186: 
fp@186: 	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@186:     print "EtherCAT bus listing for master $master_index:\n";
fp@186:     for $slave (@slaves) {
fp@186: 	if ($slave->{'type'} eq "coupler") {
fp@186: 	    print "--------------------------------------------------------\n";
fp@186: 	}
fp@186: 
fp@186: 	$abs = sprintf "%i", $slave->{'ring_position'};
fp@257: 	printf(" %3s %8s   ", $abs, $slave->{'coupler_address'});
fp@264: 	unless ($show_sii_naming) {
fp@257: 	    printf("%-12s %-10s %s\n", $slave->{'vendor_name'},
fp@257: 		   $slave->{'product_name'}, $slave->{'product_desc'});
fp@257: 	}
fp@257: 	else {
fp@264: 	    printf("%s\n", $slave->{'sii_name'});
fp@257: 	}
fp@186:     }
fp@186: }
fp@186: 
fp@186: #------------------------------------------------------------------------------
fp@186: 
fp@186: sub read_string
fp@186: {
fp@186:     (my $file_name) = @_;
fp@186:     my $data;
fp@186: 
fp@186:     $data = `cat $file_name 2>/dev/null`;
fp@186:     if ($?) {
fp@186: 	print "ERROR: Unable to read string $file_name!\n";
fp@186: 	exit 1;
fp@186:     }
fp@186: 
fp@186:     chomp $data;
fp@186:     return $data;
fp@186: }
fp@186: 
fp@186: #------------------------------------------------------------------------------
fp@186: 
fp@186: sub read_integer
fp@186: {
fp@186:     (my $file_name) = @_;
fp@186: 
fp@186:     if (`cat $file_name 2>/dev/null` !~ /^(\d+)$/) {
fp@186: 	print "ERROR: Unable to read integer $file_name!\n";
fp@186: 	exit 1;
fp@186:     }
fp@186: 
fp@186:     return int $1;
fp@186: }
fp@186: 
fp@186: #------------------------------------------------------------------------------
fp@186: 
fp@186: sub get_options
fp@186: {
fp@186:     my %opt;
fp@186:     my $optret;
fp@186: 
fp@257:     $optret = getopts "m:sh", \%opt;
fp@186: 
fp@257:     &print_usage if defined $opt{'h'} or $#ARGV > -1 or !$optret;
fp@186: 
fp@186:     if (defined $opt{'m'}) {
fp@186: 	$master_index = $opt{'m'};
fp@186:     }
fp@186:     else {
fp@186: 	$master_index = 0;
fp@186:     }
fp@257: 
fp@264:     $show_sii_naming = defined $opt{'s'};
fp@186: }
fp@186: 
fp@186: #------------------------------------------------------------------------------
fp@186: 
fp@186: sub print_usage
fp@186: {
fp@186:     print "Usage: ec_list [OPTIONS]\n";
fp@257:     print "        -m <IDX>    Query master <IDX>.\n";
fp@264:     print "        -s          Show SII naming instead of";
fp@257:     print " vendor/product/description.\n";
fp@186:     print "        -h          Show this help.\n";
fp@186:     exit 0;
fp@186: }
fp@186: 
fp@186: #------------------------------------------------------------------------------