#!/usr/bin/env bash
set -euo pipefail

usage() {
  cat <<'USAGE'
Usage:
  script/ethercat/status_ethercat.sh

Environment:
  IGH_ROOT=...         Override bundled IgH install path.
  ETHERCAT_CONF=...    Override ethercatctl config path.
USAGE
}

if [[ "${1:-}" == "-h" || "${1:-}" == "--help" ]]; then
  usage
  exit 0
fi

SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
REPO_ROOT="$(cd "${SCRIPT_DIR}/../.." && pwd)"
IGH_ROOT="${IGH_ROOT:-${REPO_ROOT}/dependency/x86/third_party/ethercat/v1.7.0}"
ETHERCAT_CONF="${ETHERCAT_CONF:-${IGH_ROOT}/etc/ethercat.conf}"
ETHERCATCTL="${IGH_ROOT}/sbin/ethercatctl"
ETHERCAT="${IGH_ROOT}/bin/ethercat"

if [[ ! -x "${ETHERCATCTL}" ]]; then
  echo "error: ethercatctl not found: ${ETHERCATCTL}" >&2
  exit 1
fi

if [[ ! -x "${ETHERCAT}" ]]; then
  echo "error: ethercat command not found: ${ETHERCAT}" >&2
  exit 1
fi

echo "== ${ETHERCAT_CONF} =="
if [[ -f "${ETHERCAT_CONF}" ]]; then
  sed -n '1,80p' "${ETHERCAT_CONF}"
else
  echo "missing"
fi

echo
echo "== kernel modules =="
lsmod | grep -E '(^ec_master|^ec_generic|^ec_)' || true

echo
echo "== ethercatctl =="
"${ETHERCATCTL}" -c "${ETHERCAT_CONF}" status || true

echo
echo "== master =="
"${ETHERCAT}" master || true

echo
echo "== slaves =="
"${ETHERCAT}" slaves || true

echo
echo "== pdos =="
"${ETHERCAT}" pdos || true