diff -r 75cd6681eb08 -r 337ce4fc2383 script/init.d/ethercat.in
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/script/init.d/ethercat.in	Fri Aug 01 11:09:39 2008 +0000
@@ -0,0 +1,275 @@
+#!/bin/sh
+
+#------------------------------------------------------------------------------
+#
+#  Init script for EtherCAT
+#
+#  $Id$
+#
+#  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
+#
+#  This file is part of the IgH EtherCAT Master.
+#
+#  The IgH EtherCAT Master is free software; you can redistribute it
+#  and/or modify it under the terms of the GNU General Public License
+#  as published by the Free Software Foundation; either version 2 of the
+#  License, or (at your option) any later version.
+#
+#  The IgH EtherCAT Master is distributed in the hope that it will be
+#  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#  GNU General Public License for more details.
+#
+#  You should have received a copy of the GNU General Public License
+#  along with the IgH EtherCAT Master; if not, write to the Free Software
+#  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+#
+#  The right to use EtherCAT Technology is granted and comes free of
+#  charge under condition of compatibility of product made by
+#  Licensee. People intending to distribute/sell products based on the
+#  code, have to sign an agreement to guarantee that products using
+#  software based on IgH EtherCAT master stay compatible with the actual
+#  EtherCAT specification (which are released themselves as an open
+#  standard) as the (only) precondition to have the right to use EtherCAT
+#  Technology, IP and trade marks.
+#
+#------------------------------------------------------------------------------
+
+### BEGIN INIT INFO
+# Provides:          ethercat
+# Required-Start:    $local_fs $syslog $network
+# Should-Start:      $time ntp
+# Required-Stop:     $local_fs $syslog $network
+# Should-Stop:       $time ntp
+# Default-Start:     3 5
+# Default-Stop:      0 1 2 6
+# Short-Description: EtherCAT master
+# Description:       EtherCAT master @VERSION@
+### END INIT INFO
+
+#------------------------------------------------------------------------------
+
+MODPROBE=/sbin/modprobe
+RMMOD=/sbin/rmmod
+MODINFO=/sbin/modinfo
+ETHERCAT=@prefix@/bin/ethercat
+
+#------------------------------------------------------------------------------
+
+ETHERCAT_CONFIG=/etc/sysconfig/ethercat
+
+if [ ! -r ${ETHERCAT_CONFIG} ]; then
+    echo ${ETHERCAT_CONFIG} not existing;
+    if [ "${1}" = "stop" ]; then
+	exit 0
+    else
+	exit 6
+    fi
+fi
+
+. ${ETHERCAT_CONFIG}
+
+#------------------------------------------------------------------------------
+
+function exit_success()
+{
+    if [ -r /etc/rc.status ]; then
+        rc_reset
+        rc_status -v
+        rc_exit
+    else
+        echo " done"
+        exit 0
+    fi
+}
+
+#------------------------------------------------------------------------------
+
+function exit_fail()
+{
+    if [ -r /etc/rc.status ]; then
+        rc_failed
+        rc_status -v
+        rc_exit
+    else
+        echo " failed"
+        exit 1
+    fi
+}
+
+#------------------------------------------------------------------------------
+
+function print_running()
+{
+    if [ -r /etc/rc.status ]; then
+        rc_reset
+        rc_status -v
+    else
+        echo " running"
+    fi
+}
+
+#------------------------------------------------------------------------------
+
+function print_dead()
+{
+    if [ -r /etc/rc.status ]; then
+        rc_failed
+        rc_status -v
+    else
+        echo " dead"
+    fi
+}
+
+#------------------------------------------------------------------------------
+
+function parse_mac_address()
+{
+    if [ -z "${1}" ]; then
+        MAC=""
+    elif echo ${1} | grep -qE '^([0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}$'; then
+        MAC=${1}
+    else
+        echo Invalid MAC address \"${1}\" in ${ETHERCAT_CONFIG}
+        exit_fail
+    fi 
+}
+
+#------------------------------------------------------------------------------
+
+if [ -r /etc/rc.status ]; then
+    . /etc/rc.status
+    rc_reset
+fi
+
+case "${1}" in
+
+start)
+    echo -n "Starting EtherCAT master @VERSION@"
+
+    # construct DEVICES and BACKUPS from configuration variables
+    DEVICES=""
+    BACKUPS=""
+    MASTER_INDEX=0
+    while true; do
+        DEVICE=$(eval echo "\${MASTER${MASTER_INDEX}_DEVICE}")
+        BACKUP=$(eval echo "\${MASTER${MASTER_INDEX}_BACKUP}")
+        if [ -z "${DEVICE}" ]; then break; fi
+
+        if [ ${MASTER_INDEX} -gt 0 ]; then
+            DEVICES=${DEVICES},
+            BACKUPS=${BACKUPS},
+        fi
+
+        parse_mac_address ${DEVICE}
+        DEVICES=${DEVICES}${MAC}
+        
+        parse_mac_address ${BACKUP}
+        BACKUPS=${BACKUPS}${MAC}
+
+        MASTER_INDEX=$(expr ${MASTER_INDEX} + 1)
+    done
+
+    # load master module
+    if ! ${MODPROBE} ${MODPROBE_FLAGS} ec_master \
+            main_devices=${DEVICES} backup_devices=${BACKUPS}; then
+        exit_fail
+    fi
+
+    # check for modules to replace
+    for MODULE in ${DEVICE_MODULES}; do
+        ECMODULE=ec_${MODULE}
+        if ! ${MODINFO} ${ECMODULE} > /dev/null; then
+            continue # ec_* module not found
+        fi
+        if lsmod | grep "^${MODULE} " > /dev/null; then
+            if ! ${RMMOD} ${MODULE}; then
+                exit_fail
+            fi
+        fi
+        if ! ${MODPROBE} ${MODPROBE_FLAGS} ${ECMODULE}; then
+            ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE} # try to restore module
+            exit_fail
+        fi
+    done
+
+    exit_success
+    ;;
+
+stop)
+    echo -n "Shutting down EtherCAT master @VERSION@"
+
+    # unload EtherCAT device modules
+    for MODULE in ${DEVICE_MODULES} master; do
+        ECMODULE=ec_${MODULE}
+        if ! lsmod | grep -q "^${ECMODULE} "; then
+            continue # ec_* module not loaded
+        fi
+        if ! ${RMMOD} ${ECMODULE}; then
+            exit_fail
+        fi;
+    done
+
+    sleep 1
+
+    # reload previous modules
+    for MODULE in ${DEVICE_MODULES}; do
+        if ! ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE}; then
+            echo Warning: Failed to restore ${MODULE}.
+        fi
+    done
+
+    exit_success
+    ;;
+
+restart)
+    $0 stop || exit 1
+    sleep 1
+    $0 start
+    ;;
+
+status)
+    echo "Checking for EtherCAT master @VERSION@"
+
+    # count masters in configuration file
+    MASTER_COUNT=0
+    while true; do
+        DEVICE=$(eval echo "\${MASTER${MASTER_COUNT}_DEVICE}")
+        if [ -z "${DEVICE}" ]; then break; fi
+        MASTER_COUNT=$(expr ${MASTER_COUNT} + 1)
+    done
+
+    RESULT=0
+
+    for i in `seq 0 $(expr ${MASTER_COUNT} - 1)`; do
+        echo -n "Master${i}"
+        
+        # Check if the master is in idle or operation phase
+        ${ETHERCAT} master --master ${i} 2>/dev/null | \
+            grep -qE 'Phase:[[:space:]]*Idle|Phase:[[:space:]]*Operation'
+        EXITCODE=$?
+
+        if [ ${EXITCODE} -eq 0 ]; then
+            print_running
+        else
+            print_dead
+            RESULT=1
+        fi
+    done
+
+    exit ${RESULT}
+    ;;
+
+*)
+    echo "USAGE: $0 {start|stop|restart|status}"
+    ;;
+
+esac
+
+if [ -r /etc/rc.status ]; then
+    rc_exit
+else
+    exit 1
+fi
+
+#------------------------------------------------------------------------------