wr_mon.c

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <getopt.h>
#include <unistd.h>
#include <time.h>
#include <ppsi/ppsi.h>
#include <libwr/shmem.h>
#include <libwr/hal_shmem.h>
#include <libwr/switch_hw.h>
#include <libwr/wrs-msg.h>
#include <libwr/pps_gen.h>
#include <fpga_io.h>
#include <minipc.h>
#include <signal.h>

#include "term.h"

#define PTP_EXPORT_STRUCTURES
#include "ptpd_exports.h"

#define SHOW_GUI		0
#define SHOW_SLAVE_PORTS	1
#define SHOW_MASTER_PORTS	(1<<1)
#define SHOW_OTHER_PORTS	(1<<2) /* non-wr and none */
#define SHOW_SERVO		(1<<3)
#define SHOW_TEMPERATURES	(1<<4)
#define WEB_INTERFACE		(1<<5)
#define SHOW_WR_TIME		(1<<6)

/* for convenience when any or all ports needs a print statement */
#define SHOW_ALL_PORTS		(SHOW_SLAVE_PORTS | SHOW_MASTER_PORTS | \
				SHOW_OTHER_PORTS)
/* for convenience with -a option */
#define SHOW_ALL		(SHOW_ALL_PORTS | SHOW_SERVO | \
				SHOW_TEMPERATURES | SHOW_WR_TIME)

int mode = SHOW_GUI;

static struct minipc_ch *ptp_ch;

static struct wrs_shm_head *hal_head;
static struct hal_port_state *hal_ports;
/* local copy of port state */
static struct hal_port_state hal_ports_local_copy[HAL_MAX_PORTS];
static int hal_nports_local;
static struct wrs_shm_head *ppsi_head;
static struct pp_globals *ppg;
static struct wr_servo_state *ppsi_servo;
static struct wr_servo_state ppsi_servo_local; /* local copy of servo status */
static pid_t ptp_ch_pid; /* pid of ppsi connected via minipc */
static struct hal_temp_sensors *temp_sensors;
/* local copy of temperature sensor readings */
static struct hal_temp_sensors temp_sensors_local;

static uint64_t seconds;
static uint32_t nanoseconds;
/* ignore checking if process is alive */
static int ignore_alive;

/* define size of pp_instance_state_to_name as a last element + 1 */
#define PP_INSTANCE_STATE_MAX (WR_PORT_CALIBRATION_8 + 1)
/* define conversion array for the field state in the struct pp_instance */
static char *pp_instance_state_to_name[PP_INSTANCE_STATE_MAX] = {
	/* from ppsi/include/ppsi/ieee1588_types.h, enum pp_std_states */
	/* PPS_END_OF_TABLE = 0 */
	[PPS_END_OF_TABLE] =      "EOT       ",
	[PPS_INITIALIZING] =      "initing   ",
	[PPS_FAULTY] =            "faulty    ",
	[PPS_DISABLED] =          "disabled  ",
	[PPS_LISTENING] =         "listening ",
	[PPS_PRE_MASTER] =        "pre master",
	[PPS_MASTER] =            "master    ",
	[PPS_PASSIVE] =           "passive   ",
	[PPS_UNCALIBRATED] =      "uncalib   ",
	[PPS_SLAVE] =             "slave     ",
	/* from ppsi/proto-ext-whiterabbit/wr-constants.h */
	/* WRS_PRESENT = 100 */
	[WRS_PRESENT] =           "WR_PRESENT",
	[WRS_S_LOCK] =            "WR_S_LOCK ",
	[WRS_M_LOCK] =            "WR_M_LOCK ",
	[WRS_LOCKED] =            "WR_LOCKED ",
	[WRS_CALIBRATION] =       "WR_CAL-ION",
	[WRS_CALIBRATED] =        "WR_CAL-ED ",
	[WRS_RESP_CALIB_REQ] =    "WR_RSP_CAL",
	[WRS_WR_LINK_ON] =        "WR_LINK_ON",
	/* substates: used within WRS_CALIBRATED as wrPortState field */
	[WR_PORT_CALIBRATION_0] = "WR_P_CAL0 ",
	[WR_PORT_CALIBRATION_1] = "WR_P_CAL1 ",
	[WR_PORT_CALIBRATION_2] = "WR_P_CAL2 ",
	[WR_PORT_CALIBRATION_3] = "WR_P_CAL3 ",
	[WR_PORT_CALIBRATION_4] = "WR_P_CAL4 ",
	[WR_PORT_CALIBRATION_5] = "WR_P_CAL5 ",
	[WR_PORT_CALIBRATION_6] = "WR_P_CAL6 ",
	[WR_PORT_CALIBRATION_7] = "WR_P_CAL7 ",
	[WR_PORT_CALIBRATION_8] = "WR_P_CAL8 ",
};

void help(char *prgname)
{
	fprintf(stderr, "%s: Use: \"%s [<options>] <cmd> [<args>]\n",
		prgname, prgname);
	fprintf(stderr,
		"  The program has the following options\n"
		"  -h   print help\n"
		"  -i   show White Rabbit time.\n"
		"	   very close\n"
		"  -m   show master ports\n"
		"  -s   show slave ports\n"
		"  -o   show other ports\n"
		"  -e   show servo statistics\n"
		"  -t   show temperatures\n"
		"  -a   show all (same as -i -m -s -o -e -t options)\n"
		"  -b   black and white output\n"
		"  -w   web interface mode\n"
		"  -H <dir> Open shmem dumps from the given directory\n"
		"\n"
		"During execution the user can enter 'q' to exit the program\n"
		"and 't' to toggle printing of state information on/off\n");
	exit(1);
}

int read_hal(void){
	unsigned ii;
	unsigned retries = 0;

	/* read data, with the sequential lock to have all data consistent */
	while (1) {
		ii = wrs_shm_seqbegin(hal_head);
		memcpy(hal_ports_local_copy, hal_ports,
		       hal_nports_local*sizeof(struct hal_port_state));
		memcpy(&temp_sensors_local, temp_sensors,
		       sizeof(*temp_sensors));
		retries++;
		if (retries > 100)
			return -1;
		if (!wrs_shm_seqretry(hal_head, ii))
			break; /* consistent read */
		usleep(1000);
	}

	return 0;
}

int read_servo(void){
	unsigned ii;
	unsigned retries = 0;

	/* read data, with the sequential lock to have all data consistent */
	while (1) {
		ii = wrs_shm_seqbegin(ppsi_head);
		memcpy(&ppsi_servo_local, ppsi_servo, sizeof(*ppsi_servo));
		retries++;
		if (retries > 100)
			return -1;
		if (!wrs_shm_seqretry(ppsi_head, ii))
			break; /* consistent read */
		usleep(1000);
	}

	return 0;
}

void ppsi_connect_minipc(void)
{
	if (ptp_ch) {
		/* close minipc, if connected before */
		minipc_close(ptp_ch);
	}
	ptp_ch = minipc_client_create("ptpd", 0);
	if (!ptp_ch) {
		pr_error("Can't establish WRIPC connection to the PTP "
			 "daemon!\n");
		exit(1);
	}
	/* store pid of ppsi connected via minipc */
	ptp_ch_pid = ppsi_head->pid;
}

void init_shm(void)
{
	struct hal_shmem_header *h;
	int ret;
	int n_wait = 0;
	while ((ret = wrs_shm_get_and_check(wrs_shm_hal, &hal_head)) != 0) {
		n_wait++;
		if (ret == WRS_SHM_OPEN_FAILED) {
			pr_error("Unable to open HAL's shm !\n");
		}
		if (ret == WRS_SHM_WRONG_VERSION) {
			pr_error("Unable to read HAL's version!\n");
		}
		if (ret == WRS_SHM_INCONSISTENT_DATA) {
			pr_error("Unable to read consistent data from HAL's "
				 "shmem!\n");
		}
		if (n_wait > 10) {
			/* timeout! */
			exit(-1);
		}
		sleep(1);
	}

	if (hal_head->version != HAL_SHMEM_VERSION) {
		pr_error("Unknown HAL's shm version %i (known is %i)\n",
			 hal_head->version, HAL_SHMEM_VERSION);
		exit(1);
	}
	h = (void *)hal_head + hal_head->data_off;
	/* Assume number of ports does not change in runtime */
	hal_nports_local = h->nports;
	if (hal_nports_local > HAL_MAX_PORTS) {
		pr_error("Too many ports reported by HAL. %d vs %d "
			 "supported\n", hal_nports_local, HAL_MAX_PORTS);
		exit(1);
	}
	/* Even after HAL restart, HAL will place structures at the same
	 * addresses. No need to re-dereference pointer at each read.
	 */
	hal_ports = wrs_shm_follow(hal_head, h->ports);
	if (!hal_ports) {
		pr_error("Unable to follow hal_ports pointer in HAL's "
			 "shmem\n");
		exit(1);
	}
	temp_sensors = &(h->temp);

	n_wait = 0;
	while ((ret = wrs_shm_get_and_check(wrs_shm_ptp, &ppsi_head)) != 0) {
		n_wait++;
		if (ret == WRS_SHM_OPEN_FAILED) {
			pr_error("Unable to open PPSI's shm !\n");
		}
		if (ret == WRS_SHM_WRONG_VERSION) {
			pr_error("Unable to read PPSI's version!\n");
		}
		if (ret == WRS_SHM_INCONSISTENT_DATA) {
			pr_error("Unable to read consistent data from PPSI's "
				 "shmem!\n");
		}
		if (n_wait > 10) {
			/* timeout! */
			exit(-1);
		}
		sleep(1);
	}

	/* check hal's shm version */
	if (ppsi_head->version != WRS_PPSI_SHMEM_VERSION) {
		pr_error("Unknown PPSI's shm version %i (known is %i)\n",
			 ppsi_head->version, WRS_PPSI_SHMEM_VERSION);
		exit(1);
	}
	ppg = (void *)ppsi_head + ppsi_head->data_off;

	ppsi_servo = wrs_shm_follow(ppsi_head, ppg->global_ext_data);
	if (!ppsi_servo) {
		pr_error("Cannot follow ppsi_servo in shmem.\n");
		exit(1);
	}

	ppsi_connect_minipc();
}

void show_ports(int alive)
{
	int i, j;
	time_t t;
	struct tm *tm;
	char datestr[32];
	struct hal_port_state *port_state;
	struct pp_instance *pp_array;
	int vlan_i;
	int nvlans;

	if (!alive) {
		if (mode == SHOW_GUI)
			term_cprintf(C_RED, "HAL is dead!\n");
		else if (mode == SHOW_ALL)
			printf("HAL is dead!\n");
		return;
	}

	pp_array = wrs_shm_follow(ppsi_head, ppg->pp_instances);

	if (mode == SHOW_GUI) {
		time(&t);
		tm = localtime(&t);
		strftime(datestr, sizeof(datestr), "%Y-%m-%d %H:%M:%S", tm);
		term_cprintf(C_BLUE, "Switch time: ");
		term_cprintf(C_WHITE, "%s\n", datestr);

		t = (time_t)_fpga_readl(FPGA_BASE_PPS_GEN + 8 /* UTC_LO */);
		tm = localtime(&t);
		strftime(datestr, sizeof(datestr), "%Y-%m-%d %H:%M:%S", tm);
		term_cprintf(C_BLUE, "WR time:     ");
		term_cprintf(C_WHITE, "%s\n", datestr);
/*                                    -------------------------------------------------------------------------------*/
		term_cprintf(C_CYAN, "------------- HAL -----------|-------------- PPSI -----------------------------\n");
		term_cprintf(C_CYAN, " Port | Link | WRconf | Freq |Inst| MAC of peer port  | PTP state | Pro | VLANs\n");
		term_cprintf(C_CYAN, "------|------|--------|------|----|-------------------|-----------|-----|------\n");
	}
	if (mode & (SHOW_SLAVE_PORTS|SHOW_MASTER_PORTS)) {
		printf("PORTS ");
	}

	for (i = 0; i < hal_nports_local; i++) {
		char if_name[10];
		char if_mode[15];
		int print_port = 0;
		int instance_port = 0;

		snprintf(if_name, 10, "wri%d", i + 1);

		port_state = hal_lookup_port(hal_ports_local_copy,
						hal_nports_local, if_name);
		if (!port_state)
			continue;

		switch (port_state->mode) {
		case HEXP_PORT_MODE_WR_MASTER:
			if (mode == SHOW_GUI) {
				strcpy(if_mode, "Master");
			} else if (mode & SHOW_MASTER_PORTS) {
				print_port = 1;
				strcpy(if_mode, "M");
			} else if (mode & WEB_INTERFACE) {
				strcpy(if_mode, "Master");
			}
			break;
		case HEXP_PORT_MODE_WR_SLAVE:
			if (mode == SHOW_GUI) {
				strcpy(if_mode, "Slave ");
			} else if (mode & SHOW_SLAVE_PORTS) {
				print_port = 1;
				strcpy(if_mode, "S");
			} else if (mode & WEB_INTERFACE) {
				strcpy(if_mode, "Slave");
			}
			break;
		case HEXP_PORT_MODE_NON_WR:
			if (mode == SHOW_GUI) {
				strcpy(if_mode, "Non WR");
			} else if (mode & SHOW_OTHER_PORTS) {
				print_port = 1;
				strcpy(if_mode, "N");
			} else if (mode & WEB_INTERFACE) {
				strcpy(if_mode, "Non WR");
			}
			break;
		case HEXP_PORT_MODE_NONE:
			if (mode == SHOW_GUI) {
				strcpy(if_mode, "None  ");
			} else if (mode & SHOW_OTHER_PORTS) {
				print_port = 1;
				strcpy(if_mode, "X");
			} else if (mode & WEB_INTERFACE) {
				strcpy(if_mode, "None");
			}
			break;
		case HEXP_PORT_MODE_WR_M_AND_S:
			if (mode == SHOW_GUI) {
				strcpy(if_mode, "Auto  ");
			} else if (mode &
				(SHOW_SLAVE_PORTS|SHOW_MASTER_PORTS)) {
				print_port = 1;
				strcpy(if_mode, "A");
			} else if (mode & WEB_INTERFACE) {
				strcpy(if_mode, "Auto");
			}
			break;
		default:
			if (mode == SHOW_GUI) {
				strcpy(if_mode, "Unkn  ");
			} else if (mode & SHOW_OTHER_PORTS) {
				print_port = 1;
				strcpy(if_mode, "U");
			} else if (mode & WEB_INTERFACE) {
				strcpy(if_mode, "Unknown");
			}
			break;
		}

		if (mode == SHOW_GUI) {
			term_cprintf(C_WHITE, "%-5s", if_name);
			term_cprintf(C_CYAN, " | ");
			/* check if link is up */
			if (state_up(port_state->state))
				term_cprintf(C_GREEN, "up  ");
			else
				term_cprintf(C_RED, "down");
			term_cprintf(C_CYAN, " | ");
			term_cprintf(C_WHITE, if_mode);
			term_cprintf(C_CYAN, " | ");
			if (port_state->locked)
				term_cprintf(C_GREEN, "Lock ");
			else
				term_cprintf(C_RED, "     ");

			term_cprintf(C_CYAN, "|");

			instance_port = 0;
			/*
			 * Actually, what is interesting is the PTP state.
			 * For this lookup, the port in ppsi shmem
			 */
			for (j = 0; j < ppg->nlinks; j++) {
				if (strcmp(if_name,
						pp_array[j].cfg.iface_name)) {
					/* Instance not for this interface
					 * skip */
					continue;
				}
				if (instance_port > 0) {
					term_cprintf(C_CYAN, "\n      |      |"
						     "        |      |");
				}
				instance_port++;
				/* print instance number */
				term_cprintf(C_WHITE, " %2d ", j);
				term_cprintf(C_CYAN, "| ");
				/* Note: we may have more pp instances per
				 * port */
				if (state_up(port_state->state)) {
					unsigned char *p = pp_array[j].peer;

					term_cprintf(C_WHITE, "%02x:%02x"
						     ":%02x:%02x:%02x:%02x ",
						     p[0], p[1], p[2], p[3],
						     p[4], p[5]);
					term_cprintf(C_CYAN, "| ");
					if (pp_array[j].state < PP_INSTANCE_STATE_MAX) {
						/* Known state */
						term_cprintf(C_GREEN, "%s",
							pp_instance_state_to_name[pp_array[j].state]);
					} else {
						/* Unknown ptp state */
						term_cprintf(C_GREEN,
							"unkn(%3i)",
							pp_array[j].state);
					}
				} else {
					term_cprintf(C_WHITE, "               "
						     "   ");
					term_cprintf(C_CYAN, "|");
					term_cprintf(C_WHITE, "           ");
				}
				term_cprintf(C_CYAN, "| ");
				if (pp_array[j].proto == PPSI_PROTO_RAW) {
					term_cprintf(C_WHITE, "R");
				} else if (pp_array[j].proto
					   == PPSI_PROTO_UDP) {
					term_cprintf(C_WHITE, "U");
				} else if (pp_array[j].proto
					   == PPSI_PROTO_VLAN) {
					term_cprintf(C_WHITE, "V");
				} else {
					term_cprintf(C_WHITE, "?");
				}
				if (pp_array[j].cfg.ext == PPSI_EXT_WR) {
					term_cprintf(C_WHITE, "-W");
				} else if (pp_array[j].cfg.ext
					   == PPSI_EXT_NONE) {
					term_cprintf(C_WHITE, "  ");
				} else {
					term_cprintf(C_WHITE, "-?");
				}

				nvlans = pp_array[j].nvlans;
				term_cprintf(C_CYAN, " | ");
				for (vlan_i = 0; vlan_i < nvlans; vlan_i++) {
					term_cprintf(C_WHITE, "%d",
						    pp_array[j].vlans[vlan_i]);
					if (vlan_i < nvlans - 1)
						term_cprintf(C_WHITE, ",");
				}
			}
			if (!instance_port) {
				term_cprintf(C_WHITE, " -- ");
				term_cprintf(C_CYAN, "|                   |   "
					     "        |     |");
			}
			term_cprintf(C_WHITE, "\n");
		} else if (mode & WEB_INTERFACE) {
			printf("%s ", state_up(port_state->state)
				? "up" : "down");
			printf("%s ", if_mode);
			printf("%s ", port_state->locked
				? "Locked" : "NoLock");
			printf("%s\n", port_state->calib.rx_calibrated
				&& port_state->calib.tx_calibrated
				? "Calibrated" : "Uncalibrated");
		} else if (print_port) {
			printf("port:%s ", if_name);
			printf("lnk:%d ", state_up(port_state->state));
			printf("mode:%s ", if_mode);
			printf("lock:%d ", port_state->locked);
			print_port = 0;
		}
	}
	if (mode == SHOW_GUI) {
		term_cprintf(C_BLUE, "Pro - Protocol mapping: V-Ethernet over "
			     "VLAN; U-UDP; R-Ethernet\n");
	}
}

void show_servo(int alive)
{
	int64_t total_asymmetry;
	int64_t crtt;
	static time_t lastt;
	static int last_count;

	total_asymmetry = ppsi_servo_local.picos_mu -
			  2LL * ppsi_servo_local.delta_ms;
	crtt = ppsi_servo_local.picos_mu - ppsi_servo_local.delta_tx_m -
	       ppsi_servo_local.delta_rx_m - ppsi_servo_local.delta_tx_s -
	       ppsi_servo_local.delta_rx_s;

	if (mode == SHOW_GUI) {
/*                                      -------------------------------------------------------------------------------*/
		term_cprintf(C_CYAN, "\n--------------------------- Synchronization status ----------------------------\n");
	}

	if (!alive) {
		if (mode == SHOW_GUI)
			term_cprintf(C_RED, "PPSI is dead!\n");
		return;
	}

	if (mode == SHOW_GUI) {
		if (!(ppsi_servo_local.flags & WR_FLAG_VALID)) {
			term_cprintf(C_RED,
				     "Master mode or sync info not valid\n");
			return;
		}

		term_cprintf(C_BLUE, "Servo state:          ");
		if (lastt && time(NULL) - lastt > 5) {
			term_cprintf(C_RED, "--- not updating ---\n");
		} else {
			term_cprintf(C_WHITE, "%s: %s%s\n",
				     ppsi_servo_local.if_name,
				     ppsi_servo_local.servo_state_name,
				     ppsi_servo_local.flags & WR_FLAG_WAIT_HW ?
				     " (wait for hw)" : "");
		}

		/* "tracking disabled" is just a testing tool */
		if (!ppsi_servo_local.tracking_enabled)
			term_cprintf(C_RED, "Tracking forcibly disabled\n");
/*                                      -------------------------------------------------------------------------------*/
		term_cprintf(C_CYAN, "\n------------------------------ Timing parameters ------------------------------\n");

		term_cprintf(C_BLUE, "Round-trip time (mu): ");
		term_cprintf(C_WHITE, "%15.3f nsec\n",
			     ppsi_servo_local.picos_mu/1000.0);

		term_cprintf(C_BLUE, "Master-slave delay:   ");
		term_cprintf(C_WHITE, "%15.3f nsec\n",
			     ppsi_servo_local.delta_ms/1000.0);

		term_cprintf(C_BLUE, "Total link asymmetry: ");
		term_cprintf(C_WHITE, "%15.3f nsec\n", total_asymmetry/1000.0);

		/*if (0) {
			term_cprintf(C_BLUE, "Fiber asymmetry:   ");
			term_cprintf(C_WHITE, "%.3f nsec\n",
				ss.fiber_asymmetry/1000.0);
		}*/

		term_cprintf(C_BLUE, "Clock offset:         ");
		term_cprintf(C_WHITE, "%15.3f nsec\n",
			     ppsi_servo_local.offset/1000.0);

		term_cprintf(C_BLUE, "Phase setpoint:       ");
		term_cprintf(C_WHITE, "%15.3f nsec\n",
			     ppsi_servo_local.cur_setpoint/1000.0);

		term_cprintf(C_BLUE, "Skew:                 ");
		term_cprintf(C_WHITE, "%15.3f nsec\n",
			     ppsi_servo_local.skew/1000.0);

		term_cprintf(C_BLUE, "Servo update counter: ");
		term_cprintf(C_WHITE, "%15u times\n",
			     ppsi_servo_local.update_count);
		if (ppsi_servo_local.update_count != last_count) {
			lastt = time(NULL);
			last_count = ppsi_servo_local.update_count;
		}
		term_cprintf(C_BLUE, "Master PHY delays:    ");
		term_cprintf(C_BLUE, "TX: ");
		term_cprintf(C_WHITE, "%11.3f nsec, ",
			     ppsi_servo_local.delta_tx_m/1000.0);
		term_cprintf(C_BLUE, "RX: ");
		term_cprintf(C_WHITE, "%11.3f nsec\n",
			     ppsi_servo_local.delta_rx_m/1000.0);

		term_cprintf(C_BLUE, "Slave PHY delays:     ");
		term_cprintf(C_BLUE, "TX: ");
		term_cprintf(C_WHITE, "%11.3f nsec, ",
			     ppsi_servo_local.delta_tx_s/1000.0);
		term_cprintf(C_BLUE, "RX: ");
		term_cprintf(C_WHITE, "%11.3f nsec\n",
			     ppsi_servo_local.delta_rx_s/1000.0);
	} else {
		/* TJP: commented out fields are present on the SPEC,
		 *      does the switch have similar fields?
		 */
		printf("SERVO ");
/*		printf("lnk:");*/
/*		printf("rx:");*/
/*		printf("tx:");*/
		printf("lock:%i ", ppsi_servo_local.tracking_enabled);
		printf("sv:%d ", ppsi_servo_local.flags & WR_FLAG_VALID ? 1 : 0);
		printf("ss:'%s' ", ppsi_servo_local.servo_state_name);
/*		printf("aux:");*/
		printf("mu:%llu ", ppsi_servo_local.picos_mu);
		printf("dms:%llu ", ppsi_servo_local.delta_ms);
		printf("dtxm:%d drxm:%d ", ppsi_servo_local.delta_tx_m,
		       ppsi_servo_local.delta_rx_m);
		printf("dtxs:%d drxs:%d ", ppsi_servo_local.delta_tx_s,
		       ppsi_servo_local.delta_rx_s);
		printf("asym:%lld ", total_asymmetry);
		printf("crtt:%llu ", crtt);
		printf("cko:%lld ", ppsi_servo_local.offset);
		printf("setp:%d ", ppsi_servo_local.cur_setpoint);
/*		printf("hd:");*/
/*		printf("md:");*/
/*		printf("ad:");*/
		printf("ucnt:%u ", ppsi_servo_local.update_count);
		/* SPEC shows temperature, but that can be selected separately
		 * in this program
		 */
	}
}

void show_temperatures(void)
{
	if ((mode == SHOW_GUI) || (mode & WEB_INTERFACE)) {
		if (mode == SHOW_GUI) {
/*                                              -------------------------------------------------------------------------------*/
			term_cprintf(C_CYAN, "\n-------------------------------- Temperatures ---------------------------------\n");
		} else {
			term_cprintf(C_CYAN, "\nTemperatures:\n");
		}

		term_cprintf(C_BLUE, "FPGA: ");
		term_cprintf(C_WHITE, "%2.2f ",
			     temp_sensors_local.fpga/256.0);
		term_cprintf(C_BLUE, "PLL: ");
		term_cprintf(C_WHITE, "%2.2f ",
			     temp_sensors_local.pll/256.0);
		term_cprintf(C_BLUE, "PSL: ");
		term_cprintf(C_WHITE, "%2.2f ",
			     temp_sensors_local.psl/256.0);
		term_cprintf(C_BLUE, "PSR: ");
		term_cprintf(C_WHITE, "%2.2f\n",
			     temp_sensors_local.psr/256.0);
	} else {
		printf("TEMP ");
		printf("fpga:%2.2f ", temp_sensors_local.fpga/256.0);
		printf("pll:%2.2f ", temp_sensors_local.pll/256.0);
		printf("psl:%2.2f ", temp_sensors_local.psl/256.0);
		printf("psr:%2.2f", temp_sensors_local.psr/256.0);
	}
}

void show_time(void)
{
	printf("TIME sec:%lld nsec:%d ", seconds, nanoseconds);
}

void show_all(void)
{
	int hal_alive;
	int ppsi_alive;

	if (mode == SHOW_GUI) {
		term_clear();
		term_pcprintf(1, 1, C_BLUE, "WR Switch Sync Monitor ");
		term_cprintf(C_WHITE, "%s", __GIT_VER__);
		term_cprintf(C_BLUE, " [q = quit]\n\n");
	}

	hal_alive = (hal_head->pid && (kill(hal_head->pid, 0) == 0))
								+ ignore_alive;
	ppsi_alive = (ppsi_head->pid && (kill(ppsi_head->pid, 0) == 0))
								+ ignore_alive;

	if (mode & SHOW_WR_TIME) {
		if (ppsi_alive)
			show_time();
		else if (mode == SHOW_ALL)
			printf("PPSI is dead!\n");
	}

	if ((mode & (SHOW_ALL_PORTS|WEB_INTERFACE)) || mode == SHOW_GUI) {
		show_ports(hal_alive);
	}

	if (mode & SHOW_SERVO || mode == SHOW_GUI) {
		show_servo(ppsi_alive);
	}

	if (mode & (SHOW_TEMPERATURES | WEB_INTERFACE) || mode == SHOW_GUI) {
		if (hal_alive)
			show_temperatures();
	}

	if (!(mode & WEB_INTERFACE || mode == SHOW_GUI)) {
		/* the newline for all in non-GUI or non-WEB mode... */
		printf("\n");
	}
	fflush(stdout);
}

int main(int argc, char *argv[])
{
	int opt;
	int usecolor = 1;
	int track_onoff = 1;

	/* try a pps_gen based approach */
	uint64_t last_seconds = 0;

	wrs_msg_init(argc, argv);

	while ((opt = getopt(argc, argv, "himsoetabwqvH:")) != -1) {
		switch(opt)
		{
			case 'h':
				help(argv[0]);
			case 'i':
				mode |= SHOW_WR_TIME;
				break;
			case 's':
				mode |= SHOW_SLAVE_PORTS;
				break;
			case 'm':
				mode |= SHOW_MASTER_PORTS;
				break;
			case 'o':
				mode |= SHOW_OTHER_PORTS;
				break;
			case 'e':
				mode |= SHOW_SERVO;
				break;
			case 't':
				mode |= SHOW_TEMPERATURES;
				break;
			case 'a':
				mode |= SHOW_ALL;
				break;
			case 'b':
				usecolor = 0;
				break;
			case 'w':
				mode |= WEB_INTERFACE;
				break;
			case 'H':
				wrs_shm_set_path(optarg);
				/* ignore WRS_SHM_LOCKED flag */
				wrs_shm_ignore_flag_locked(1);
				ignore_alive = 1;
				break;
			case 'q': break; /* done in wrs_msg_init() */
			case 'v': break; /* done in wrs_msg_init() */
			default:
				help(argv[0]);
		}
	}

	init_shm();

	if (mode & WEB_INTERFACE) {
		read_servo();
		read_hal();
		show_all();
		exit(0);
	}

	term_init(usecolor);

	if (shw_fpga_mmap_init() < 0) {
		pr_error("Can't initialize FPGA mmap\n");
		exit(1);
	}

	setvbuf(stdout, NULL, _IOFBF, 4096);

	/* main loop */
	for(;;)
	{
		if (term_poll(10)) {
			int c = term_get();

			if (c == 'q')
				break;

			if (c == 't') {
				int rval;
				track_onoff = 1-track_onoff;
				if (ptp_ch_pid != ppsi_head->pid) {
					/* ppsi was restarted since minipc
					 * connection, reconnect now */
					ppsi_connect_minipc();
				}
				minipc_call(ptp_ch, 200, &__rpcdef_cmd,
					&rval, PTPDEXP_COMMAND_TRACKING,
					track_onoff);
			}
		}

		shw_pps_gen_read_time(&seconds, &nanoseconds);
		if (seconds != last_seconds) {
			read_servo();
			read_hal();

			show_all();

			last_seconds = seconds;
		}

		/* If we got broken pipe or anything, exit */
		if (ferror(stdout))
			exit(1);
	}

	term_restore();
	setlinebuf(stdout);
	printf("\n");
	return 0;
}