Kuka RTNET connection

rtnet_connection

#!/bin/bash
### BEGIN INIT INFO
# Provides:          rtnet_kuka
# Required-Start:    $local_fs
# Required-Stop:     $local_fs
# Default-Start:     2 3 4 5
# Default-Stop:      0 1 6
# X-Interactive:     false
# Short-Description: Starts RTNet components for the Kuka LWR
# Description:       Start/stop RTNet components for the Kuka LWR 4+ at ISIR
### END INIT INFO

VERT="\\033[1;32m"
NORMAL="\\033[0;39m"
ROUGE="\\033[1;31m"
ROSE="\\033[1;35m"
BLEU="\\033[1;34m"
BLANC="\\033[0;02m"
BLANCLAIR="\\033[1;08m"
JAUNE="\\033[1;33m"
CYAN="\\033[1;36m"

SLAVES="192.168.100.102 192.168.100.103"
SLAVES_NAMES="Kuka ATISensor"
### Xenomai 2+RTNET
prefix="/usr/local/rtnet"
modules_dir="modules"
RTNETCFG="${prefix}/etc/rtnet.conf"

ping_slave()
{
        slave=$1
        slave_name=$2
        sleep_time_s=1.0
        max_trials=10
        rc=0
        count=$max_trials                   # Maximum number to try.
        while [ $count -ne 0 ] ; do
            sudo ./rtping -c 1 $slave              # Try once.
            rc=$?
            if [ $rc -eq 0 ] ; then
                count=1                      # If okay, flag to exit loop.
            else
                echo -e "$BLANC" "Remaining trials $count for $slave_name"
            fi
            count=$((count - 1))                  # So we don't go forever.
            sleep $sleep_time_s
        done

        if [ $rc -eq 0 ] ; then                  # Make final determination.
            echo -e "$VERT" "$slave_name is connected."
        else
            echo -e "$ROUGE" "$slave_name timed out."
        fi
}

do_start()
{
   echo "Starting RealTime Network";

   # Read the config file
   if [ -r $RTNETCFG ]; then
       . $RTNETCFG
   else
       echo -e "$ROUGE" "Could not read $RTNETCFG"
       exit 1
   fi


   cd ${prefix}/sbin/
   sudo ./rtnet start
   sleep 3
   # Solicit the slaves
   i=0
   for SLAVE in $SLAVES;
   do
           #echo "sudo ./rtifconfig rteth$i up $IPADDR netmask $NETMASK"
           sudo ./rtifconfig rteth$i up $IPADDR netmask $NETMASK
           #echo "sudo ./rtroute solicit $SLAVE dev rteth$i"
           sudo ./rtroute solicit $SLAVE dev rteth$i
           i=$((i+1))
   done

   # Wait until connection is good for all slaves
   i=0
   names=($SLAVES_NAMES)
   for SLAVE in $SLAVES; do
           ping_slave $SLAVE ${names[$i]} &
           i=$((i+1))
   done

}

do_stop()
{
   echo "Stoping RealTime Network";
   cd ${prefix}/sbin/
   sudo ./rtnet stop
}


case "$1" in
   start)
     do_start
     ;;
   stop)
     do_stop
     ;;
   restart|reload|condrestart)
     stop
     start
     ;;
*)
     echo $"Usage: $0 {start|stop|restart|reload|status}"
     exit 1
esac
exit 0