fp@2689: #!/bin/bash
fp@2192: 
fp@2192: #------------------------------------------------------------------------------
fp@2192: #
fp@2192: #  Start script for EtherCAT to use with systemd
fp@2192: #
fp@2192: #  $Id$
fp@2192: #
fp@2192: #  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
fp@2192: #
fp@2192: #  This file is part of the IgH EtherCAT Master.
fp@2192: #
fp@2192: #  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@2192: #  modify it under the terms of the GNU General Public License version 2, as
fp@2192: #  published by the Free Software Foundation.
fp@2192: #
fp@2192: #  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@2192: #  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@2192: #  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@2192: #  Public License for more details.
fp@2192: #
fp@2192: #  You should have received a copy of the GNU General Public License along
fp@2192: #  with the IgH EtherCAT Master; if not, write to the Free Software
fp@2192: #  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@2192: #
fp@2192: #  ---
fp@2192: #
fp@2192: #  The license mentioned above concerns the source code only. Using the
fp@2192: #  EtherCAT technology and brand is only permitted in compliance with the
fp@2192: #  industrial property and similar rights of Beckhoff Automation GmbH.
fp@2192: #
fp@2192: #  vim: expandtab sw=4 tw=78
fp@2192: #
fp@2192: #------------------------------------------------------------------------------
fp@2192: 
fp@2543: LSMOD=/sbin/lsmod
fp@2192: MODPROBE=/sbin/modprobe
fp@2192: RMMOD=/sbin/rmmod
fp@2192: MODINFO=/sbin/modinfo
fp@2192: 
fp@2192: ETHERCAT=@prefix@/bin/ethercat
fp@2192: 
fp@2192: #------------------------------------------------------------------------------
fp@2192: 
fp@2192: ETHERCAT_CONFIG=/etc/ethercat.conf
fp@2192: 
fp@2192: if [ ! -r ${ETHERCAT_CONFIG} ]; then
fp@2192:     echo ${ETHERCAT_CONFIG} not existing;
fp@2192:     exit 6
fp@2192: fi
fp@2192: 
fp@2192: . ${ETHERCAT_CONFIG}
fp@2192: 
fp@2192: #------------------------------------------------------------------------------
fp@2192: 
fp@2192: parse_mac_address() {
fp@2192:     if [ -z "${1}" ]; then
fp@2192:         MAC=""
fp@2192:     elif echo ${1} | grep -qE '^([0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}$'; then
fp@2192:         MAC=${1}
fp@2192:     else
fp@2192:         echo Invalid MAC address \"${1}\" in ${ETHERCAT_CONFIG}
fp@2192:         exit 1
fp@2192:     fi
fp@2192: }
fp@2192: 
fp@2192: #------------------------------------------------------------------------------
fp@2192: 
fp@2192: case "${1}" in
fp@2192: 
fp@2192: start)
fp@2192:     # construct DEVICES and BACKUPS from configuration variables
fp@2192:     DEVICES=""
fp@2192:     BACKUPS=""
fp@2192:     MASTER_INDEX=0
fp@2192: 
fp@2192:     while true; do
fp@2192:         DEVICE=$(eval echo "\${MASTER${MASTER_INDEX}_DEVICE}")
fp@2192:         BACKUP=$(eval echo "\${MASTER${MASTER_INDEX}_BACKUP}")
fp@2192:         if [ -z "${DEVICE}" ]; then break; fi
fp@2192: 
fp@2192:         if [ ${MASTER_INDEX} -gt 0 ]; then
fp@2192:             DEVICES=${DEVICES},
fp@2192:             BACKUPS=${BACKUPS},
fp@2192:         fi
fp@2192: 
fp@2192:         parse_mac_address ${DEVICE}
fp@2192:         DEVICES=${DEVICES}${MAC}
fp@2192: 
fp@2192:         parse_mac_address ${BACKUP}
fp@2192:         BACKUPS=${BACKUPS}${MAC}
fp@2192: 
fp@2192:         MASTER_INDEX=$(expr ${MASTER_INDEX} + 1)
fp@2192:     done
fp@2192: 
fp@2192:     # load master module
fp@2192:     if ! ${MODPROBE} ${MODPROBE_FLAGS} ec_master \
fp@2192:             main_devices=${DEVICES} backup_devices=${BACKUPS}; then
fp@2192:         exit 1
fp@2192:     fi
fp@2192: 
fp@2192:     LOADED_MODULES=ec_master
fp@2192: 
fp@2192:     # check for modules to replace
fp@2192:     for MODULE in ${DEVICE_MODULES}; do
fp@2192:         ECMODULE=ec_${MODULE}
fp@2192:         if ! ${MODINFO} ${ECMODULE} > /dev/null; then
fp@2192:             continue # ec_* module not found
fp@2192:         fi
fp@2192: 
edouard@2710:         if [ ${MODULE} != "generic" -a ${MODULE} != "rtdmnet" -a ${MODULE} != "ccat" ]; then
fp@2192:             # try to unload standard module
fp@2543:             if ${LSMOD} | grep "^${MODULE} " > /dev/null; then
fp@2192:                 if ! ${RMMOD} ${MODULE}; then
fp@2192:                     ${RMMOD} ${LOADED_MODULES}
fp@2192:                     exit 1
fp@2192:                 fi
fp@2192:             fi
fp@2192:         fi
fp@2192: 
fp@2192:         if ! ${MODPROBE} ${MODPROBE_FLAGS} ${ECMODULE}; then
edouard@2710:             if [ ${MODULE} != "generic" -a ${MODULE} != "rtdmnet" -a ${MODULE} != "ccat" ]; then
fp@2192:                 ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE} # try to restore
fp@2192:             fi
fp@2192:             ${RMMOD} ${LOADED_MODULES}
fp@2192:             exit 1
fp@2192:         fi
fp@2192: 
fp@2193:         LOADED_MODULES="${ECMODULE} ${LOADED_MODULES}"
fp@2192:     done
fp@2192: 
fp@2192:     exit 0
fp@2192:     ;;
fp@2192: 
fp@2192: #------------------------------------------------------------------------------
fp@2192: 
fp@2192: stop)
fp@2192:     # unload EtherCAT device modules
fp@2192:     for MODULE in ${DEVICE_MODULES} master; do
fp@2192:         ECMODULE=ec_${MODULE}
fp@2543:         if ! ${LSMOD} | grep -q "^${ECMODULE} "; then
fp@2192:             continue # ec_* module not loaded
fp@2192:         fi
fp@2192:         if ! ${RMMOD} ${ECMODULE}; then
fp@2192:             exit 1
fp@2192:         fi;
fp@2192:     done
fp@2192: 
fp@2192:     sleep 1
fp@2192: 
fp@2192:     # load standard modules again
fp@2192:     for MODULE in ${DEVICE_MODULES}; do
edouard@2710:         if [ ${MODULE} == "generic" -o ${MODULE} == "rtdmnet" -o ${MODULE} == "ccat" ]; then
fp@2192:             continue
fp@2192:         fi
fp@2192:         ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE}
fp@2192:     done
fp@2192: 
fp@2192:     exit 0
fp@2192:     ;;
fp@2192: 
fp@2192: #------------------------------------------------------------------------------
fp@2192: 
fp@2192: restart)
fp@2192:     $0 stop || exit 1
fp@2192:     sleep 1
fp@2192:     $0 start
fp@2192:     ;;
fp@2192: 
fp@2192: #------------------------------------------------------------------------------
fp@2192: 
fp@2192: status)
fp@2192:     echo "Checking for EtherCAT master @VERSION@ "
fp@2192: 
fp@2192:     # count masters in configuration file
fp@2192:     MASTER_COUNT=0
fp@2192:     while true; do
fp@2192:         DEVICE=$(eval echo "\${MASTER${MASTER_COUNT}_DEVICE}")
fp@2192:         if [ -z "${DEVICE}" ]; then break; fi
fp@2192:         MASTER_COUNT=$(expr ${MASTER_COUNT} + 1)
fp@2192:     done
fp@2192: 
fp@2192:     RESULT=0
fp@2192: 
fp@2192:     for i in `seq 0 $(expr ${MASTER_COUNT} - 1)`; do
fp@2192:         echo -n "Master${i} "
fp@2192: 
fp@2192:         # Check if the master is in idle or operation phase
fp@2192:         ${ETHERCAT} master --master ${i} 2>/dev/null | \
fp@2192:             grep -qE 'Phase:[[:space:]]*Idle|Phase:[[:space:]]*Operation'
fp@2192:         EXITCODE=$?
fp@2192: 
fp@2192:         if [ ${EXITCODE} -eq 0 ]; then
fp@2192:             echo " running"
fp@2192:         else
fp@2192:             echo " dead"
fp@2192:             RESULT=1
fp@2192:         fi
fp@2192:     done
fp@2192: 
fp@2192:     exit ${RESULT}
fp@2192:     ;;
fp@2192: 
fp@2192: #------------------------------------------------------------------------------
fp@2192: 
fp@2192: *)
fp@2192:     echo "USAGE: $0 {start|stop|restart|status}"
fp@2192:     exit 1
fp@2192:     ;;
fp@2192: esac
fp@2192: 
fp@2192: #------------------------------------------------------------------------------