148 lines
3.9 KiB
Perl
Executable File
148 lines
3.9 KiB
Perl
Executable File
#!/usr/bin/perl
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#------------------------------------------------------------------------------
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#
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# l s e c - List EtherCAT
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#
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# Userspace tool for listing EtherCAT slaves.
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#
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# $Id$
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#
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# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
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#
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# This file is part of the IgH EtherCAT Master.
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#
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# The IgH EtherCAT Master is free software; you can redistribute it
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# and/or modify it under the terms of the GNU General Public License
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# as published by the Free Software Foundation; either version 2 of the
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# License, or (at your option) any later version.
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#
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# The IgH EtherCAT Master is distributed in the hope that it will be
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# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with the IgH EtherCAT Master; if not, write to the Free Software
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# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#
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# The right to use EtherCAT Technology is granted and comes free of
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# charge under condition of compatibility of product made by
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# Licensee. People intending to distribute/sell products based on the
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# code, have to sign an agreement to guarantee that products using
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# software based on IgH EtherCAT master stay compatible with the actual
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# EtherCAT specification (which are released themselves as an open
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# standard) as the (only) precondition to have the right to use EtherCAT
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# Technology, IP and trade marks.
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#
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#------------------------------------------------------------------------------
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use strict;
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use Getopt::Std;
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my $master_index;
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my $master_dir;
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#------------------------------------------------------------------------------
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&get_options;
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&query_master;
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exit 0;
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#------------------------------------------------------------------------------
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sub query_master
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{
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$master_dir = "/sys/ethercat" . $master_index;
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&query_slaves;
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}
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#------------------------------------------------------------------------------
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sub query_slaves
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{
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my $dirhandle;
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my $entry;
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my @slaves;
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my $slave;
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my $abs;
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my $line;
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unless (opendir $dirhandle, $master_dir) {
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print "Failed to open directory \"$master_dir\".\n";
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exit 1;
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}
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while ($entry = readdir $dirhandle) {
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next unless $entry =~ /^slave(\d+)$/;
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$slave = {};
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open INFO, "$master_dir/$entry/info" or die
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"ERROR: Failed to open $master_dir/$entry/info";
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while ($line = <INFO>) {
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if ($line =~ /^Name: (.*)$/) {
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$slave->{'name'} = $1;
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}
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elsif ($line =~ /^Ring position: (\d+)$/) {
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$slave->{'ring_position'} = $1;
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}
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elsif ($line =~ /^Advanced position: (\d+:\d+)$/) {
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$slave->{'advanced_position'} = $1;
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}
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elsif ($line =~ /^State: (.+)$/) {
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$slave->{'state'} = $1;
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}
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}
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close INFO;
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push @slaves, $slave;
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}
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closedir $dirhandle;
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@slaves = sort { $a->{'ring_position'} <=> $b->{'ring_position'} } @slaves;
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print "EtherCAT bus listing for master $master_index:\n";
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for $slave (@slaves) {
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$abs = sprintf "%i", $slave->{'ring_position'};
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printf(" %3s %8s %-6s %s\n",
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$abs, $slave->{'advanced_position'},
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$slave->{'state'}, $slave->{'name'});
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}
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}
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#------------------------------------------------------------------------------
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sub get_options
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{
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my %opt;
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my $optret;
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$optret = getopts "m:h", \%opt;
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&print_usage if defined $opt{'h'} or $#ARGV > -1 or !$optret;
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if (defined $opt{'m'}) {
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$master_index = $opt{'m'};
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}
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else {
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$master_index = 0;
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}
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}
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#------------------------------------------------------------------------------
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sub print_usage
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{
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my $cmd = `basename $0`;
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chomp $cmd;
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print "Usage: $cmd [OPTIONS]\n";
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print " -m <IDX> Query master <IDX>.\n";
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print " -h Show this help.\n";
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exit 0;
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}
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#------------------------------------------------------------------------------
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