# HG changeset patch # User Florian Pose # Date 1217588979 0 # Node ID 337ce4fc2383e1803182e482ab7e075f6fd0be54 # Parent 75cd6681eb08fe8ae48d5f2af9cc5ca03e609ddb Repaired init script status command. diff -r 75cd6681eb08 -r 337ce4fc2383 TODO --- a/TODO Fri Aug 01 10:10:55 2008 +0000 +++ b/TODO Fri Aug 01 11:09:39 2008 +0000 @@ -8,8 +8,6 @@ Version 1.4.0: -* Abort code messages in userspace. -* Repair rcethercat status. * Attach Pdo names from SII or Coe dictionary to Pdos read via CoE. * Update documentation. * Check for possible race condition in jiffy-based frame timeout calculation. @@ -17,10 +15,10 @@ Future issues: * Distributed clocks. -* Allow master requesting when in ORPHANED phase +* Implement user space realtime interface via cdev. * Move master threads, slave handlers and state machines into a user space daemon. -* Implement user space realtime interface via cdev. +* Allow master requesting when in ORPHANED phase * Mailbox protocol handlers. * Mailbox state machine using toggle bits. * Mailbox gateway. diff -r 75cd6681eb08 -r 337ce4fc2383 configure.ac --- a/configure.ac Fri Aug 01 10:10:55 2008 +0000 +++ b/configure.ac Fri Aug 01 11:09:39 2008 +0000 @@ -503,6 +503,7 @@ master/Makefile script/Makefile script/init.d/Makefile + script/init.d/ethercat script/sysconfig/Makefile tool/Makefile ]) diff -r 75cd6681eb08 -r 337ce4fc2383 script/init.d/Makefile.am --- a/script/init.d/Makefile.am Fri Aug 01 10:10:55 2008 +0000 +++ b/script/init.d/Makefile.am Fri Aug 01 11:09:39 2008 +0000 @@ -35,6 +35,8 @@ init_SCRIPTS = ethercat -EXTRA_DIST = ethercat +EXTRA_DIST = ethercat.in + +BUILT_SOURCES = ethercat #------------------------------------------------------------------------------ diff -r 75cd6681eb08 -r 337ce4fc2383 script/init.d/ethercat --- a/script/init.d/ethercat Fri Aug 01 10:10:55 2008 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,263 +0,0 @@ -#!/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: -### END INIT INFO - -#------------------------------------------------------------------------------ - -MODPROBE=/sbin/modprobe -RMMOD=/sbin/rmmod -MODINFO=/sbin/modinfo - -#------------------------------------------------------------------------------ - -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 - -. ${ETHERCAT_CONFIG} - -#------------------------------------------------------------------------------ - -function exit_success() -{ - if [ -r /etc/rc.status ]; then - rc_reset - rc_status -v - rc_exit - else - echo " done" - exit 0 - fi -} - -#------------------------------------------------------------------------------ - -function exit_running() -{ - if [ -r /etc/rc.status ]; then - rc_reset - rc_status -v - rc_exit - else - echo " running" - exit 0 - fi -} - -#------------------------------------------------------------------------------ - -function exit_fail() -{ - if [ -r /etc/rc.status ]; then - rc_failed - rc_status -v - rc_exit - else - echo " failed" - exit 1 - fi -} - -#------------------------------------------------------------------------------ - -function exit_dead() -{ - if [ -r /etc/rc.status ]; then - rc_failed - rc_status -v - rc_exit - else - echo " dead" - exit 1 - fi -} - -#------------------------------------------------------------------------------ - -function parse_mac_address() -{ - if [ -z "${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 " - - # 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 " - - # 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 - $0 start - ;; - -status) - echo -n "Checking for EtherCAT " - - lsmod | grep -q "^ec_master " - MASTERS_RUNNING=$? - - ! grep -q "(WAITING)" /sys/ethercat/master*/info - MASTERS_IDLE=$? - - # master module loaded and masters not waiting for devices? - if [ ${MASTERS_RUNNING} -eq 0 -a ${MASTERS_IDLE} -eq 0 ]; then - exit_running - else - exit_dead - fi - ;; - -*) - echo "USAGE: $0 {start|stop|restart|status}" - ;; - -esac - -if [ -r /etc/rc.status ]; then - rc_exit -else - exit 1 -fi - -#------------------------------------------------------------------------------ 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 + +#------------------------------------------------------------------------------