showmotor

#!/bin/bash -u           
# Script_name     : showmotor
# Author          : Bert Lindeman
# Description     : Show status of connected motors
# Version         : v1.3
# Date            : 2014-11-04
# Usage           : showmotor
# Notes           : Only tested with LEGO EV3 and NXT motors
# Copyright       : 2014 Bert Lindeman
# License         : GPL-3.0+
#
#============================================================================
#
# Changelog        
# Date     By       Description
# 20141104 BL       prepare for release v1.3
# 20141023 BL       adapt to changes at kernel 3.16.1-6
# 20140911 BL       adapt to changes at kernel 3.16.1-2
# 20140826 BL       Add script header
# 20150105 BL       Add servo-motor
# 20150115 BL       Simplify search for the motorpath
# 20150430 BL       adapt to changes at kernel 3.16.7-ckt9-ev3dev1
# 20160103 BL       adapt to image 20151230 (change file names)
#============================================================================
# 
# 
# show motor status

. /usr/local/bin/bert_ev3dev_functions

#
# determine which motor(port) is connected to what tacho-motor-number  
#   /sys/class/tacho-motor/motor*/address is the link between motor# and port
#
#
# IFS=$' \n' read -a tachoPath <<< "`echo /sys/class/tacho-motor/motor*/ /sys/class/dc-motor/motor*/ /sys/class/servo-motor/motor*/`"
IFS=$' \n' read -a tachoPath <<< "`echo /sys/class/*motor/motor*/`"
#
for i in ${!tachoPath[@]} # ! walk the index
do
 echo -e "process $i ${tachoPath[$i]}"
 if [ -e ${tachoPath[$i]} ]; then
   cd ${tachoPath[$i]}  

   # determine motortype
   p=`pwd`
   basename="`basename $p`"
   dirname="`dirname $p`"
   dir3="`basename ${dirname}`" # third node in path
   #ls -l driver_name

   if [ $? -eq 0 ] ;  then
     type="."
     if [ -r driver_name ]; then
        type="`cat driver_name`"
        attribute="driver"  
     elif [ -r type ]; then
        type="`cat type`"
        attribute="tacho"  
     else
        type=$dir3
        attribute="dc"
     fi

     printf "${brblue}Motor on port $brwhite%s$brblue as type=$brwhite%-10s$brblue at $brwhite%s$white\n" \
             "`cat address`" "$type" "${tachoPath[$i]} "

     curval="."; title="_"
     if [ -e duty_cycle_sp ] ; then
        curval=`cat duty_cycle_sp`
        title="duty_cycle_sp:"
     fi   
     line1_1=`printf "%-21s %12s\n"  "${title}"        "$curval"`

     curval="."; title="_"
     if [ -e pulses_per_second_sp ] ; then
        curval=`cat pulses_per_second_sp` 
        title="pulses_per_second_sp:"
     fi
     line2_1=`printf "%-21s %12s\n"  "${title}" "$curval"`
     
     curval="."; title="_"
     if [ -e encoder_mode ] ; then
        curval=`cat encoder_mode`
        title="encoder_mode:"
     fi
     encval=$curval # use later.. 
     line3_1=`printf "%-21s %12s\n"  "${title}" "$curval"`

     curval="."; title="_"
     if [ -e position_sp ] ; then
        curval=`cat position_sp`
        title="position_sp:"
     fi
     line4_1=`printf "%-21s %12s\n"  "${title}" "$curval"`

     curval="."; title="_"     
     if [ -e time_sp ] ; then
        curval=`cat time_sp` 
        title="time_sp:"
     fi
     line5_1=`printf "%-21s %12s\n"  "${title}" "$curval"`

     curval="."; title="_"     
     if [ -e ramp_down_sp ] ; then
        curval=`cat ramp_down_sp` 
        title="ramp_down_sp:"
     elif [ -e ramp_down_ms ] ; then
        curval=`cat ramp_down_ms` 
        title="ramp_down_ms:" 
     fi
     line6_1=`printf "%-21s %12s\n"  "${title}" "$curval"`
     
     curval="."; title="_"     
     if [ -e ramp_up_sp ] ; then
        curval=`cat ramp_up_sp` 
        title="ramp_up_sp:"
     elif [ -e ramp_up_ms ] ; then
        curval=`cat ramp_up_ms` 
        title="ramp_up_ms:"
     fi
     line7_1=`printf "%-21s %12s\n"  "${title}" "$curval"`
     
     line8_1="_ ."          
     line9_1="_ ."          
     line10_1="  "          

     curval="."; title="_"
     if [ -e pulses_per_second_sp ]; then
        curval=`cat pulses_per_second` 
        title="pulses_per_second:"
     fi
     line2_2=`printf "%-21s %12s\n"  "${title}" "$curval"`
     
     curval="."; title="_"     
     if   [ -e polarity_mode ] ; then
        curval=`cat polarity_mode`
        title="polarity_mode:" 
     elif [ -e polarity ] ; then
        curval=`cat polarity`
        title="polarity:" 
     fi
     polval=$curval
     line3_2=`printf "%-21s %12s\n"  "${title}" "$curval"`
      
     curval="."; title="_"     
     if [ -e position ] ; then
        curval=`cat position` 
        title="position:"
     fi
     line4_2=`printf "%-21s %12s\n"  "${title}" "$curval"`

     curval="."; title="_"     
     if [ -e position_mode ] ; then
        curval=`cat position_mode` 
        title="position_mode:"
     fi
     line5_2=`printf "%-21s %-50s\n" "${title}" "$curval"`

     curval="."; title="_"     
     if [ -e regulation_mode ] ; then 
        curval=`cat regulation_mode` 
        title="regulation_mode:"  
     fi
     line6_2=`printf "%-21s %12s\n"  "${title}" "$curval"`

     curval="."; title="_"     
     if [ -e run_mode ] ; then
         curval=`cat run_mode`
         title="run_mode:"
     elif [ -r command ]; then # does exist but is write only NOW
         # command is write-only but still bash reports it is readile???
         curval=`cat command 2>/dev/null`  &&  title="command:"
     fi
     line7_2=`printf "%-21s %12s\n"  "${title}" "$curval"`
     
     curval="-"; title="_"      
     if [ -e state ] ; then 
        curval=`cat state` 
        title="state:"
     fi
     state=$curval
     line8_2=`printf "%-21s %s\n"    "${title}" "$curval"`
     
     curval="-"; title="_"      
     if [ -e stop_mode ] ; then
        curval=`cat stop_mode` 
        title="stop_mode:"
     fi
     line9_2=`printf "%-21s %12s\n"  "${title}"  "$curval"`
     line10_2="_ ."     
     
#    If duty_cycle on dc-motor present as speed     
     curval="."; title="_"; duty_cycle=0
     if [ -e duty_cycle ]; then
        curval=`cat duty_cycle` 
        title="duty_cycle:"
        duty_cycle=$curval
     fi     
     line1_2=`printf "%-21s %12s\n"  "${title}" "$curval"`


     curval="-"; title="_"; runval=0     
     if [ -e run ] ; then 
       curval=`cat run` 
       runval=$curval
       title="run"
     fi
     line1_3=`printf "%-21s %8s\n"   "${title}" "$curval"`
     
     if [ $runval == 0 ]; then 
        runval=$duty_cycle 
     fi
     set +x
     
     curval="-"; title="_"      
     if [ -e estop ] ; then
        curval=`cat estop` 
        title="estop:"
     fi
     line2_3=`printf "%-21s %8s\n"   "${title}" "$curval"`
     
     curval="-"; title="_"      
     if [ -e speed_regulation_D ] ; then 
        curval=`cat speed_regulation_D`  
        title="speed_regulation_D:"
     fi
     line3_3=`printf "%-21s %8s\n"   "${title}" "$curval"`
     
     curval="-"; title="_"      
     if [ -e speed_regulation_I ] ; then
         curval=`cat speed_regulation_I` 
         title="speed_regulation_I:"
     fi
     line4_3=`printf "%-21s %8s\n"   "${title}" "$curval"`
     
     curval="-"; title="_"      
     if [ -e speed_regulation_K ] ; then
        curval=`cat speed_regulation_K` 
        title="speed_regulation_K:"  
     fi
     line5_3=`printf "%-21s %8s\n"   "${title}" "$curval"`
     
     curval="-"; title="_"      
     if [ -e speed_regulation_P ] ; then
        curval=`cat speed_regulation_P` 
        title="speed_regulation_P:" 
     fi
     line6_3=`printf "%-21s %8s\n"   "${title}" "$curval"`
     # type  already in top of the display
     #
     line7_3=""
     ## uevent >> Line 11 as it's too long...
     #
     
     line8_3="_ ."
     line9_3="_ ."     

     tabc=$brblue

     # Long string....
     curval="."; title="_" 
     if [ -e stop_modes ]; then
        curval=`cat stop_modes`
        title="stop_modes:"
     elif [ -e commands ]; then
        curval=`cat commands`
        title="commands: "
     fi
     line10_1=`printf "$tabc%-10s $white%s\n" "${title}" "$curval"`
     
     # There is a newline in uevent, I do not want to see it....     
     curval=`cat uevent` ; title="uevent:  " ; curval=`echo ${curval} | tr '\n' ' '`
     line11_1=`printf "$tabc%-10s $white%s\n" "${title}" "$curval"`
#     echo -e "1" ${line11_1}
#     echo -e "2" "${line11_1}"
     
     printf "\n$brwhite%32s %32s %32s$white\n" "  == setpoints ==  " "  == state     ==  " "  == switches  ==" 
     # 
     if   [ attribute == "dc" ]     ; then
        echo "set duty_cycle as speed"
     fi
     
     if   [ "$runval" == 0 ]        ; then runcol=${red}
     else                                  runcol=${brgreen} 
     fi

     if   [ "$encval" == "normal" ] ; then enccol=${brgreen}
     elif [ "$encval" == "."      ] ; then enccol=${blue}
     else                                  enccol=${red} 
     fi

     if   [ "$polval" == "normal" ] ; then polcol=${brgreen}  
     elif [ "$polval" == "."      ] ; then polcol=${blue}  
                                      else polcol=${red}
     fi
     
     printf "$tabc%-21s $white%08s $brwhite|$white $tabc%-18s $runcol%11s $brwhite|$white $tabc%-21s $runcol%10s\n"  $line1_1 $line1_2 $line1_3
     printf "$tabc%-21s $white%08s $brwhite|$white $tabc%-18s $white%11s $brwhite|$white $tabc%-21s $white%10s\n"  $line2_1 $line2_2 $line2_3
     printf "$tabc%-21s $enccol%8s $brwhite|$white $tabc%-18s $polcol%11s $brwhite|$white $tabc%-21s $white%10s\n"  $line3_1 $line3_2 $line3_3 
     printf "$tabc%-21s $white%08s $brwhite|$white $tabc%-18s $white%11s $brwhite|$white $tabc%-21s $white%10s\n"  $line4_1 $line4_2 $line4_3 
     printf "$tabc%-21s $white%08s $brwhite|$white $tabc%-18s $white%11s $brwhite|$white $tabc%-21s $white%10s\n"  $line5_1 $line5_2 $line5_3 
     printf "$tabc%-21s $white%08s $brwhite|$white $tabc%-18s $white%11s $brwhite|$white $tabc%-21s $white%10s\n"  $line6_1 $line6_2 $line6_3 
     printf "$tabc%-21s $white%08s $brwhite|$white $tabc%-18s $white%11s $brwhite|$white $tabc%-21s $white%10s\n"  $line7_1 $line7_2 "`echo -n $line7_3`" 
     printf "$tabc%-21s %00000008s $brwhite|$white $tabc%-18s $runcol%11s $brwhite|$white $tabc%-21s %10s\n"  $line8_1 $line8_2 $line8_3 
     printf "$tabc%-21s %00000008s $brwhite|$white $tabc%-18s $white%11s $brwhite|$white $tabc%-21s %10s\n"  $line9_1 $line9_2 $line9_3 
     #
     echo  "$line10_1" # 10_2 and 10_3 not used. 
     # no need to show uevent (line11) as info is already shown above
     # echo  "$line11_1" # 11_2 and 11_3 not used. 
     echo ""
     
  else
    echo "does not exist entry $i  ${tachoPath[$i]}  " 
  fi 
 fi 
done