#!/usr/bin/perl #------------------------------------------------------------------------------ # # l s e c - List EtherCAT # # Userspace tool for listing EtherCAT slaves. # # $Id$ # # 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. # #------------------------------------------------------------------------------ require 'sys/ioctl.ph'; use strict; use Getopt::Std; my %opt; my $master_index; my $term_width; #------------------------------------------------------------------------------ $term_width = &get_terminal_width; &get_options; &query; exit 0; #------------------------------------------------------------------------------ sub query { my $master_dir; my $dirhandle; my $entry; my $slave_info_file; my @slaves; my $slave; my $line; my $ring_col_width; my $alias_col_width; my $fmt; my $width; my $last_alias; my $alias_index; my $category; $master_dir = "/sys/ethercat/master" . $master_index; unless (opendir $dirhandle, $master_dir) { print "Failed to open directory \"$master_dir\".\n"; exit 1; } while ($entry = readdir $dirhandle) { next unless $entry =~ /^slave(\d+)$/; $slave = {}; $slave_info_file = "$master_dir/$entry/info"; open INFO, $slave_info_file or die "ERROR: Failed to open $slave_info_file."; $category = ""; while ($line = ) { # remember category if ($line =~ /^([^\s][^:]*):$/) { $category = $1; } elsif ($line =~ /^\s*$/) { $category = ""; } if ($category eq "") { if ($line =~ /^Ring position: (\d+)$/) { $slave->{'ring_position'} = $1; } elsif ($line =~ /^State: (.+) /) { $slave->{'state'} = $1; } elsif ($line =~ /^Configured station alias: .* \((\d+)\)$/) { $slave->{'alias'} = $1; } elsif ($line =~ /^Current consumption: (-?\d+) mA$/) { $slave->{'current'} = $1; } } elsif ($category eq "Identity") { if ($line =~ /Vendor ID: .* \((\d+)\)$/) { $slave->{'vendor'} = $1; } elsif ($line =~ /Product code: .* \((\d+)\)$/) { $slave->{'product'} = $1; } } elsif ($category eq "General") { if ($line =~ /Name: (.*)$/) { $slave->{'name'} = $1; } } } close INFO; push @slaves, $slave; } closedir $dirhandle; @slaves = sort { $a->{'ring_position'} <=> $b->{'ring_position'} } @slaves; # create field addresses and calculate column widths $ring_col_width = 0; $alias_col_width = 0; $last_alias = ""; for $slave (@slaves) { if ($slave->{'alias'}) { $last_alias = $slave->{'alias'}; $alias_index = 0; } if ($last_alias) { $slave->{'field_address'} = "#" . $last_alias . ":" . $alias_index; $width = length $slave->{'field_address'}; $alias_col_width = $width if ($width > $alias_col_width); } $width = length $slave->{'ring_position'}; $ring_col_width = $width if ($width > $ring_col_width); $alias_index++; } # replace empty name with vendor id and product code for $slave (@slaves) { unless (defined $slave->{'name'}) { $slave->{'name'} = sprintf("0x%08X:0x%08X", $slave->{'vendor'}, $slave->{'product'}); } } if (defined $opt{'c'}) { # display power consumtion $fmt = sprintf " %%%is %%%is %%6i %%6i %%s\n", $ring_col_width, $alias_col_width; my $current_sum = 0; for $slave (@slaves) { &print_line if $slave->{'alias'} and !defined $opt{n}; $current_sum = 0 if $slave->{'current'} < 0; $current_sum -= $slave->{'current'}; printf($fmt, $slave->{'ring_position'}, $slave->{'field_address'}, $slave->{'current'}, $current_sum, $slave->{'name'}); } } else { # normal display $fmt = sprintf " %%%is %%%is %%-6s %%s\n", $ring_col_width, $alias_col_width; for $slave (@slaves) { &print_line if $slave->{'alias'} and !defined $opt{n}; printf($fmt, $slave->{'ring_position'}, $slave->{'field_address'}, $slave->{'state'}, $slave->{'name'}); } } } #------------------------------------------------------------------------------ sub get_options { my $optret = getopts "m:cnh", \%opt; &print_usage if defined $opt{h} or $#ARGV > -1 or !$optret; if (defined $opt{m}) { $master_index = $opt{m}; } else { $master_index = 0; } } #------------------------------------------------------------------------------ sub print_usage { my $cmd = `basename $0`; chomp $cmd; print "Usage: $cmd [OPTIONS]\n"; print " -m Query master .\n"; print " -c Display current [mA] "; print "(3: consumption, 4: remaining).\n"; print " -n Do not display lines before aliased slaves.\n"; print " -h Show this help.\n"; exit 0; } #------------------------------------------------------------------------------ sub get_terminal_width { my $col = 50; if (defined &TIOCGWINSZ) { my $winsize; open(TTY, "+