#!/bin/bash
# WPS: I changed the line above to reflect the fact that
# This is a 'bash' script, not a 'sh' script.
# Under Linux it doesn't matter but on our SUNS this script must be run
# with bash not sh. (at least not /bin/sh or /usr/bin/sh)
# On the SUNS there is no /bin/bash, so the error is to remind the user
# to find/install bash.

# Touch the file .debug_scripts in your home directory if you like
# to see all the commands echoed.
ERROR_OUT_FILE=/dev/null

if [ -f ${HOME}/.debug_scripts ] ; then
    set -x;
    ERROR_OUT_FILE=/dev/tty
fi

DEBUGGER=gdb
if [ -f ${HOME}/.debugger_name ] ; then
    DEBUGGER=`cat ${HOME}/.debugger_name | head -n 1`
fi


# Set the name of the .ini file, using emc.ini as default. Change this to
# your .ini file, if you don't use emc.ini.

INIFILE=ppmc.ini

# Everything past this point is automatic. You need not change anything here
# unless you want to customize things that can't be done in the .ini file,
# like running additional programs.

#------------------------------------------------------------------------------

# change to the directory containing this script
# cd $0/..

if [ "$0" != "./generic.run" ] ; then 
    path=$path:/usr/bin
    prog=`which $0 | grep $0`
    tail=`echo $prog | sed s#\^.\*/##`
    dir=`echo $prog | sed s/$tail//`
    cd $dir
fi


#USE_INIFILE_PLATS="nonrealtime"

IOEXEC_NEEDED=0

if [ `whoami` != root ] ; then
    if [ -x /sbin/ioexec ] ; then
        IOEXEC_NEEDED=1
        echo Using ioexec.
    fi
fi

# override INIFILE, if it's first arg
iniarg=0
for arg in $* ; do
  if [ $iniarg -eq 1 ] ; then
    INIFILE=$arg
    iniarg=0
  else if [ $arg = "-ini" ] ; then
      iniarg=1
    fi
  fi
done
if [ $iniarg -eq 1 ] ; then
  echo "missing file name after -ini"
  exit 1
fi

#
# Determine the current platfrom from uname and set symbolic links to it.
#

PLATBASE=`uname -s | gawk '{ printf ( "%s",tolower ( $1 ) ) }'`
PLAT=`uname -sr | sed "y/ /_/" | sed "y/./_/" | sed s/-rtl.\*\$// | sed "y/-/_/" | gawk '{ printf ( "%s",tolower ( $1 ) ) }'`

HOSTNAME=_
OSNAME=_
OSREV=_


if hostname >/dev/null 2>/dev/null ; then
    HOSTNAME=`hostname`
fi


if dnsdomainname >/dev/null 2>/dev/null ; then
    DNSNAME=`dnsdomainname`
fi

OSNAME=`uname -s`
OSREV=`uname -r`


HOSTID=$HOSTNAME.$DNSNAME.$OSNAME.$OSREV

DATESTRING=`date +%Y%m%d%H%M%S`

# rthal is a symbol inserted by the rtai patch
# if it is one of the kernel symbols we will use rtai stuff
# otherwise look for rtlinux info.
if [ $PLATBASE = "linux" ] ; then
    if /sbin/ksyms -a | grep rthal >/dev/null 2>/dev/null ; then
	PLAT=linux_rtai;
	RTPLAT=rtai;
    else 
	if [ -z "$PURE_SIMULATION" ] ; then
 
	    if [ ! -f .rtlinux_version.${HOSTID} ] ; then
		if [ ${PLATBASE} != "linux" ] ; then
		    echo none >.rtlinux_version.${HOSTID}
		else
		    echo "RT Linux Version?"
		    read rtlinux_version
		    echo $rtlinux_version > .rtlinux_version.${HOSTID}
		fi
	    fi
	    rtlinux_version=`head -n 1 .rtlinux_version.${HOSTID} |  sed "y/ /_/" | sed "y/./_/"`
    
	    RTPLAT=rtlinux_${rtlinux_version}
    
	    if [ -z "$RTPLAT" ] ; then
		echo "Real-time Linux kernel patch not installed.";
		exit 1;
	    fi  
	
	    if [ ! -d plat/$RTPLAT ] ; then
		echo "The current real-time platform appears to be $RTPLAT but no directory exists for this platform.";
		echo "Either install EMC for this platform or create a symbolic link to an existing platform.";
		exit 1
	    fi

	fi
    fi
fi

pwd

if [ ! -d ./plat/$PLAT ] ; then
    echo "The current platform appears to be $PLAT but no directory exists for this platform.";
    echo "Either install EMC for this platform or create a symbolic link to an existing platform.";
    exit 1
fi


cd plat
(\rm -f nonrealtime >${ERROR_OUT_FILE}) 2> ${ERROR_OUT_FILE}
(ln -s $PLAT nonrealtime >${ERROR_OUT_FILE}) 2> ${ERROR_OUT_FILE}

if [  -z "$PURE_SIMULATION" ] ; then
    (\rm -f realtime >${ERROR_OUT_FILE}) 2> ${ERROR_OUT_FILE}
    (ln -s $RTPLAT realtime >${ERROR_OUT_FILE}) 2> ${ERROR_OUT_FILE}
fi

cd ..

echo Current platform is $PLAT
if [  -z "$PURE_SIMULATION" ] ; then
    echo Current real-time platform is $RTPLAT
fi

# Find out where the inivar program is, if it's not in the path.
# WPS changed this search algorithm because it would not necessarily find
# the correct version of inivar, in fact it picks the one that is first in
# the alphabet.
if [ -x plat/$PLAT/bin/inivar ] ; then
    inivar=plat/$PLAT/bin/inivar;
else
    if [ -x /usr/local/nist/emc/plat/$PLAT/bin/inivar ] ; then
        inivar=/usr/local/nist/emc/plat/$PLAT/bin/inivar;
    else
        if [ -x $HOME/emc/plat/$PLAT/bin/inivar ] ; then
            inivar=$HOME/emc/plat/$PLAT/bin/inivar;
        else
            echo "can't locate inivar program-- not in:"  plat/$PLAT/bin/inivar /usr/local/nist/emc/plat/$PLAT/bin/inivar $HOME/emc/plat/$PLAT/bin/inivar
            exit 0;
        fi
    fi
fi

echo inivar = $inivar
echo INIFILE = $INIFILE

RS274NGC_PARAMFILE=`$inivar -ini $INIFILE -var PARAMETER_FILE -sec RS274NGC`
echo RS274NGC_PARAMFILE = $RS274NGC_PARAMFILE

# get emcmot information
emcmot=`$inivar -ini $INIFILE -var EMCMOT -sec EMCMOT`
if [ ! -n "$emcmot" ] ; then
    echo "Can't find variable EMCMOT in section [EMCMOT] of file $INIFILE.";
    exit -1;
fi
if [ -n "$USE_INIFILE_PLATS" ] ; then
    emcmot_plat=`$inivar -ini $INIFILE -var PLAT -sec EMCMOT`;
else
    case $emcmot in
        emcmotsim | emcmotsim.tc | genhexsim)
        emcmot_plat=$PLAT;
        ;;
        *)
        emcmot_plat=$RTPLAT;
        ;;
    esac
fi

sleep 1

# get emcio information
emcio=`$inivar -ini $INIFILE -var EMCIO -sec EMCIO`
if [ ! -n "$emcio" ] ; then
    echo "Can't find variable EMCIO in section [EMCIO] of file $INIFILE.";
    exit -1
fi
if [ -n "$USE_INIFILE_PLATS" ] ; then
    emcio_plat=`$inivar -ini $INIFILE -var PLAT -sec EMCIO`;
else
    emcio_plat=$PLAT;
fi

# get emctask information
emctask=`$inivar -ini $INIFILE -var TASK -sec TASK`
if [ ! -n "$emctask" ] ; then
    echo "Can't find variable TASK in section [TASK] of file $INIFILE.";
    exit -1
fi
if [ -n "$USE_INIFILE_PLATS" ] ; then
    emctask_plat=`$inivar -ini $INIFILE -var PLAT -sec EMCTASK`;
else
    emctask_plat=$PLAT;
fi

# get emcserver information
emcserver=`$inivar -ini $INIFILE -var EMCSERVER -sec EMCSERVER`
if [ -n "$USE_INIFILE_PLATS" ] ; then
    emcserver_plat=`$inivar -ini $INIFILE -var PLAT -sec EMCSERVER`;
else
    emcserver_plat=$PLAT;
fi

# get emcstrip information
emcstrip=`$inivar -ini $INIFILE -var EMCSTRIP -sec EMCSTRIP`
if [ -n "$USE_INIFILE_PLATS" ] ; then
    emcstrip_plat=`$inivar -ini $INIFILE -var PLAT -sec EMCSTRIP`;
else
    emcstrip_plat=$PLAT;
fi
emcstrip_options=`$inivar -ini $INIFILE -var OPTIONS -sec EMCSTRIP`

# get display information
display=`$inivar -ini $INIFILE -var DISPLAY -sec DISPLAY`
if [ ! -n "$display" ] ; then
    echo "Can't find variable DISPLAY in section [DISPLAY] of file $INIFILE.";
fi
if [ -n "$USE_INIFILE_PLATS" ] ; then
    display_plat=`$inivar -ini $INIFILE -var PLAT -sec DISPLAY`;
else
    display_plat=$PLAT;
fi

# Name of lock file to check for that signifies that EMC is up,
# to prevent multiple copies of controller
lockfile=/tmp/emc.lock

# 'started' is flag that's set only if we create lock file, so
# if we get ^C we won't delete a previous lock file
set started = 0

# Check for lock file
if [ -f $lockfile ]; then
  echo -n "emc is running-- restart it? [y/n] "
  read input
  case $input in
    y|Y)
      echo cleaning up old emc...
    ;;
    *)
      echo not starting new emc
      exit 0
    ;;
  esac
else
  echo starting emc...
fi

# Create the lock file
touch $lockfile

# Mark that we created it
started=1

bccmd=none  
if [ -x /usr/bin/bc ] ; then
    bccmd=/usr/bin/bc ;
fi
if [ -x /bin/bc ] ; then
    bccmd=/bin/bc ;
fi
pidofcmd=none  
if [ -x /usr/bin/pidof ] ; then
    pidofcmd=/usr/bin/pidof ;
fi
if [ -x /bin/pidof ] ; then
    pidofcmd=/bin/pidof ;
fi
if [ -x /sbin/pidof ] ; then
    pidofcmd=/sbin/pidof ;
fi


tasktokill=""
killtasktimeout=10

function killtaskwithtimeout () {
    
    if [ "${PLATBASE}" = "sunos" ] ; then
	shorttasktokillname=`echo $tasktokill | awk  '{printf("%8.8s",$1);}'`
	pids=`ps | grep $shorttasktokillname | awk '{printf("%d ",$1);}'`
	kill -INT $pids
    else
	killall -INT $tasktokill 2> ${ERROR_OUT_FILE}
    
	if [ $bccmd != "none" -a $pidofcmd != "none" ] ; then
	    time=`date +%s`
	    deadline=`echo $time+ $killtasktimeout | $bccmd`
	    while $pidofcmd $tasktokill > /dev/null ; do
		if [ `date +%s` -gt $deadline ] ; then
		    echo "Timedout waiting for $tasktokill to die. Upgrading to -KILL"
		    break;
		fi
		echo Waiting for $tasktokill to die . . .
		killall -INT $tasktokill 2> ${ERROR_OUT_FILE}
		sleep 1
	    done
	    time=`date +%s`
	    deadline=`echo $time+ $killtasktimeout | $bccmd`
	    while $pidofcmd $tasktokill > /dev/null ; do
		if [ `date +%s` -gt $deadline ] ; then
		    echo Timedout waiting for $tasktokill to die.
		    break;
		fi
		echo Waiting for $tasktokill to die . . .
		killall -KILL $tasktokill 2> ${ERROR_OUT_FILE}
		sleep 1
	    done
	fi
  fi
}

nmlfile=`$inivar -ini $INIFILE -var NML_FILE -sec EMC`
ipckeys=`grep SHMEM $nmlfile | gawk '{printf("%x ",$10);}'`

# define the cleanup function
function cleanup() {
# Kill any displays lying around
  case $display in
    xemc|yemc|emcpanel|keystick)
      tasktokill=$display
      killtaskwithtimeout	
    ;;
    tkemc)
      tasktokill=emcsh
      killtaskwithtimeout	
    ;;
    *)
      tasktokill=$display
      killtaskwithtimeout	
    ;;
  esac

# Kill any emcservers lying around
  case $emcserver in
    emcsvr)
      tasktokill=$emcserver
      killtaskwithtimeout	
    ;;
    "")
    ;;
    *)
      tasktokill=$emcserver
      killtaskwithtimeout	
    ;;
  esac

# Kill any emcstrips lying around
  case $emcstrip in
    emcstripchart)
      tasktokill=$emcstrip
      killtaskwithtimeout	
    ;;
    "")
    ;;
    *)
      tasktokill=$emcstrip
      killtaskwithtimeout	
    ;;
  esac

# Kill any emctasks lying around
  case $emctask in
    bridgeporttask|minimilltask)
      tasktokill=$emctask
      killtaskwithtimeout	
    ;;
    *)
      tasktokill=$emctask
      killtaskwithtimeout	
    ;;
  esac

# Kill any emcios lying around
  case $emcio in
    bridgeportio|minimillio|simio|ppmcio)
      tasktokill=$emcio
      killtaskwithtimeout	
    ;;
    tkio)
      tasktokill=iosh
      killtaskwithtimeout	
    ;;
    *)
      tasktokill=$emcio
      killtaskwithtimeout	
    ;;
  esac

# Kill any emcmots lying around
  case $emcmot in
    *.o)
      if /sbin/lsmod | grep $(echo $emcmot | sed s/\\.o//g) >/dev/null
2>/dev/null ; then 	echo Removing module  $(echo $emcmot | sed s/\\.o//g)
	/sbin/rmmod $(echo $emcmot | sed s/\\.o//g) 
      fi
    ;;
    *)
      tasktokill=$emcmot
      killtaskwithtimeout	
    ;;
  esac

# remove the lock file, if we create it
  if [ "$started" = "1" ]; then        
    \rm -f $lockfile
  fi

# Check to see if the inifile was changed. If not delete the unnecessary 
# backup.



  if [ -f $INIFILE.$DATESTRING ] ; then 
    if diff $INIFILE $INIFILE.$DATESTRING > /dev/null ; then
	echo $INIFILE was not changed.
	\rm $INIFILE.$DATESTRING
    else
	echo $INIFILE was changed.
	diff $INIFILE $INIFILE.$DATESTRING
	diff $INIFILE $INIFILE.$DATESTRING >$INIFILE.$DATESTRING.diff
	echo $INIFILE differences saved to $INIFILE.$DATESTRING.diff
	\rm $INIFILE.$DATESTRING;
    fi
  else
    DATESTRING=`date +%Y%m%d%H%M%S`
    cp $INIFILE $INIFILE.$DATESTRING
  fi


    if [ -n "$RS274NGC_PARAMFILE" ] ; then
	if [ -f $RS274NGC_PARAMFILE.$DATESTRING ] ; then 
	    if diff $RS274NGC_PARAMFILE $RS274NGC_PARAMFILE.$DATESTRING > /dev/null ; then
		echo $RS274NGC_PARAMFILE was not changed.
		\rm $RS274NGC_PARAMFILE.$DATESTRING 
	    else
		echo $RS274NGC_PARAMFILE was changed.
		diff $RS274NGC_PARAMFILE $RS274NGC_PARAMFILE.$DATESTRING
		diff $RS274NGC_PARAMFILE $RS274NGC_PARAMFILE.$DATESTRING >$RS274NGC_PARAMFILE.$DATESTRING.diff
		echo $RS274NGC_PARAMFILE differences saved to $RS274NGC_PARAMFILE.$DATESTRING.diff
		\rm $RS274NGC_PARAMFILE.$DATESTRING;
	    fi
	else
	    cp $RS274NGC_PARAMFILE $RS274NGC_PARAMFILE.$DATESTRING
	fi
   fi

    # Delete sharedmemory segments and semaphores
    for key in $ipckeys ; do
	id=`ipcs -m | grep $key | gawk '{print $2}'`
	if [ ${#id} -gt 1 ] ; then
	    echo "Removing shared memory " $id
	    if [ "${PLATBASE}" = "sunos" ] ; then
		ipcrm -m $id
	    else 
		ipcrm shm $id 
	    fi
	fi
	id=`ipcs -s | grep $key | gawk '{print $2}'`
	if [ ${#id} -gt 1 ] ; then
	    echo "Removing semaphore" $id
	    if [ "${PLATBASE}" = "sunos" ] ; then
		ipcrm -s $id
	    else
		ipcrm sem $id
	    fi
	fi
    done
    
    if [ -z "$PURE_SIMULATION" ] ; then
	if [ -x ./remove_realtime_base ] ; then
	    ./remove_realtime_base
	    sleep 1
	fi
    fi
}
      
# call cleanup function
cleanup

# and trap ^C so that it's called if user interrupts script
trap 'cleanup ; exit 0' SIGINT

# pop up intro graphic
img=`$inivar -ini $INIFILE -var INTRO_GRAPHIC -sec DISPLAY`
imgtime=`$inivar -ini $INIFILE -var INTRO_TIME -sec DISPLAY`
if [ "$imgtime" = "" ] ; then
  imgtime=5
fi
if [ "$img" != "" ] ; then
  if [ -x plat/$display_plat/bin/popimage ] ; then
    plat/$display_plat/bin/popimage $img $imgtime &
  fi
fi

# install RT-Linux or RTAI modules
if [ -z "$PURE_SIMULATION" ] ; then
    if [ $PLATBASE = "linux" ] ; then
	./install_realtime_base;
    fi
fi

sleep 1

# run emcmot in background
echo -n "starting EMC MOTION PROGRAM -- $emcmot..."
case $emcmot in
  stgmod.o|stg2mod.o|stg8mod.o|stg_v2_8axis.o|newstgmod.o|vtiisamod.o|vtipcimod.o|ppmcmod.o|ppmcmod8.o|univstepmod.o)
# STG modules need SHMEM_BASE_ADDRESS and IO_BASE_ADDRESS
    shmem_base_address=`$inivar -ini $INIFILE -var SHMEM_BASE_ADDRESS -sec EMCMOT`
    if [ "$shmem_base_address" = "" ]; then
      echo "can't find SHMEM_BASE_ADDRESS in $INIFILE"
      cleanup
      exit 1
    fi
    stg_base_address=`$inivar -ini $INIFILE -var IO_BASE_ADDRESS -sec EMCMOT`
    if [ "$stg_base_address" = "" ]; then
      echo "can't find IO_BASE_ADDRESS in $INIFILE"
      exit 1
    fi
    optargs=""
    motion_io_address=`$inivar -ini $INIFILE -var MOTION_IO_ADDRESS -sec EMCMOT`
    if [ "$motion_io_address" != "" ]; then
      optargs="$optargs MOTION_IO_ADDRESS=$motion_io_address"
    fi
    if ! /sbin/insmod -f plat/$emcmot_plat/lib/$emcmot SHMEM_BASE_ADDRESS=$shmem_base_address IO_BASE_ADDRESS=$stg_base_address $optargs; then
      echo "can't install it"
      cleanup
      exit 1
    else
      echo "done"
    fi
  ;;
  steppermod.o|freqmod.o|smdromod.o)
# stepper modules need SHMEM_BASE_ADDRESS and IO_BASE_ADDRESS
    shmem_base_address=`$inivar -ini $INIFILE -var SHMEM_BASE_ADDRESS -sec EMCMOT`
    if [ "$shmem_base_address" = "" ]; then
      echo "can't find SHMEM_BASE_ADDRESS in $INIFILE"
      cleanup
      exit 1
    fi
    parport_io_address=`$inivar -ini $INIFILE -var IO_BASE_ADDRESS -sec EMCMOT`
    if [ "$parport_io_address" = "" ]; then
      echo "can't find IO_BASE_ADDRESS in $INIFILE"
      cleanup
      exit 1
    fi
    optargs=""
    period=`$inivar -ini $INIFILE -var PERIOD -sec EMCMOT`
    if [ "$period" != "" ]; then
      period=$(echo $period 1000000000 \* 1 / p c | dc)
      optargs="$optargs PERIOD=$period"
    fi
    steppingtype=`$inivar -ini $INIFILE -var STEPPING_TYPE -sec EMCMOT`
    if [ "$steppingtype" != "" ]; then
      optargs="$optargs STEPPING_TYPE=$steppingtype"
    fi
    motion_io_address=`$inivar -ini $INIFILE -var MOTION_IO_ADDRESS -sec EMCMOT`
    if [ "$motion_io_address" != "" ]; then
      optargs="$optargs MOTION_IO_ADDRESS=$motion_io_address"
    fi
    dro_base_address=`$inivar -ini $INIFILE -var DRO_BASE_ADDRESS -sec EMCMOT`
    if [ "$dro_base_address" != "" ]; then
      optargs="$optargs DRO_BASE_ADDRESS=$dro_base_address"
    fi
    if ! /sbin/insmod -f plat/$emcmot_plat/lib/$emcmot SHMEM_BASE_ADDRESS=$shmem_base_address IO_BASE_ADDRESS=$parport_io_address $optargs; then
      echo "can't install it"
      cleanup
      exit 1
    else
      echo "done"
    fi
  ;;
  minitetra.o)
# minitetra module needs SHMEM_BASE_ADDRESS and IO_BASE_ADDRESS
    shmem_base_address=`$inivar -ini $INIFILE -var SHMEM_BASE_ADDRESS -sec EMCMOT`
    if [ "$shmem_base_address" = "" ]; then
      echo "can't find SHMEM_BASE_ADDRESS in $INIFILE"
      cleanup
      exit 1
    fi
    parport_io_address=`$inivar -ini $INIFILE -var IO_BASE_ADDRESS -sec EMCMOT`
    if [ "$parport_io_address" = "" ]; then
      echo "can't find IO_BASE_ADDRESS in $INIFILE"
      cleanup
      exit 1
    fi
    optargs=""
    period=`$inivar -ini $INIFILE -var PERIOD -sec EMCMOT`
    if [ "$period" != "" ]; then
      period=$(echo $period 1000000000 \* 1 / p c | dc)
      optargs="$optargs PERIOD=$period"
    fi
    steppingtype=`$inivar -ini $INIFILE -var STEPPING_TYPE -sec EMCMOT`
    if [ "$steppingtype" != "" ]; then
      optargs="$optargs STEPPING_TYPE=$steppingtype"
    fi
    motion_io_address=`$inivar -ini $INIFILE -var MOTION_IO_ADDRESS -sec EMCMOT`
    if [ "$motion_io_address" != "" ]; then
      optargs="$optargs MOTION_IO_ADDRESS=$motion_io_address"
    fi
    if ! /sbin/insmod -f plat/$emcmot_plat/lib/$emcmot SHMEM_BASE_ADDRESS=$shmem_base_address IO_BASE_ADDRESS=$parport_io_address $optargs; then
      echo "can't install it"
      cleanup
      exit 1
    else
      echo "done"
    fi
  ;;
  simmod.o)
# Real-time simulation  module needs inisim to be run.
    if ! /sbin/insmod -f plat/$emcmot_plat/lib/$emcmot; then
      echo "can't install it"
      cleanup
      exit 1
    else
      echo Running inisim to send INIFILE simulation parameters to the real-time simulator.
      plat/$PLAT/bin/inisim -ini $INIFILE
      echo "done"
    fi
  ;;
  emcmotsim)
    if [ ! -x plat/$emcmot_plat/bin/$emcmot ] ; then
      echo "can't run $emcmot program"
      echo "The file plat/$emcmot_plat/bin/$emcmot does not exist or is not executable."
      cleanup
      exit 1
    fi
    if [ -f ${HOME}/.debug_emcmot ] ; then
        xterm -sb -sl 1000 -e ${DEBUGGER} plat/$emcmot_plat/bin/$emcmot  &
        echo "Press ENTER when the $emcmot is running in the debugger."
        read foo
    else
        plat/$emcmot_plat/bin/$emcmot -ini $INIFILE &
    fi
    echo "done"
  ;;
  emcmotsim.tc)
    if [ ! -x plat/$emcmot_plat/bin/$emcmot ] ; then
      echo "can't run $emcmot program"
      echo "The file plat/$emcmot_plat/bin/$emcmot does not exist or is not executable."
      cleanup
      exit 1
    fi
    if [ -f ${HOME}/.debug_emcmot ] ; then
        xterm -sb -sl 1000 -e ${DEBUGGER} plat/$emcmot_plat/bin/$emcmot  &
        echo "Press ENTER when the $emcmot is running in the debugger."
        read foo
    else
        plat/$emcmot_plat/bin/$emcmot -ini $INIFILE &
    fi
    sleep 20
    echo "done"
  ;;
  genhexsim)
    if [ ! -x plat/$emcmot_plat/bin/$emcmot ] ; then
      echo "can't run $emcmot program"
      echo "The file plat/$emcmot_plat/bin/$emcmot does not exist or is not executable."
      cleanup
      exit 1
    fi
    if [ -f ${HOME}/.debug_emcmot ] ; then
        xterm -sb -sl 1000 -e ${DEBUGGER} plat/$emcmot_plat/bin/$emcmot  &
        echo "Press ENTER when the $emcmot is running in the debugger."
        read foo
    else
        plat/$emcmot_plat/bin/$emcmot -ini $INIFILE -noforward &
    fi
    echo "done"
  ;;
  *.o)
    # Unknown .o assume its a realtime module that
    # may or may not need SHMEM_BASE_ADDRESS, IO_BASE_ADDRESS, IO_BASE_ADDRESS, PERIOD
    optargs=""
    period=`$inivar -ini $INIFILE -var PERIOD -sec EMCMOT`
    if [ "$period" != "" ]; then
      period=$(echo $period 1000000000 \* 1 / p c | dc)
      optargs="$optargs PERIOD=$period"
    fi
    shmem_base_address=`$inivar -ini $INIFILE -var SHMEM_BASE_ADDRESS -sec EMCMOT`
    if [ "$shmem_base_address" != "" ]; then
      pcount=`/sbin/modinfo -p $emcmot | grep IO_BASE_ADDRESS | wc -l`
      if [ $pcount -eq 1 ] ; then 
	optargs="$optargs SHMEM_BASE_ADDRESS=$shmem_base_address"
      fi
    fi
    stg_base_address=`$inivar -ini $INIFILE -var IO_BASE_ADDRESS -sec EMCMOT`
    if [ "$stg_base_address" != "" ]; then
      pcount=`/sbin/modinfo -p $emcmot | grep IO_BASE_ADDRESS | wc -l`
      if [ $pcount -eq 1 ] ; then
	optargs="$optargs IO_BASE_ADDRESS=$stg_base_address"
      fi   
    fi
    parport_io_address=`$inivar -ini $INIFILE -var IO_BASE_ADDRESS -sec EMCMOT`
    if [ "$parport_io_address" != "" ]; then
      pcount=`/sbin/modinfo -p $emcmot | grep IO_BASE_ADDRESS | wc -l`
      if [ $pcount  -eq 1 ] ; then
	optargs="$optargs IO_BASE_ADDRESS=$parport_io_address"
      fi   
    fi
    motion_io_address=`$inivar -ini $INIFILE -var MOTION_IO_ADDRESS -sec EMCMOT`
    if [ "$motion_io_address" != "" ]; then
      pcount=`/sbin/modinfo -p $emcmot | grep MOTION_IO_ADDRESS | wc -l`
      if [ $pcount  -eq 1 ] ; then
	optargs="$optargs MOTION_IO_ADDRESS=$motion_io_address"
      fi   
    fi
    echo /sbin/insmod -f plat/$emcmot_plat/lib/$emcmot $optargs
    if ! /sbin/insmod -f plat/$emcmot_plat/lib/$emcmot $optargs; then
      echo "can't install it"
      cleanup
      exit 1
    else
      echo "done"
    fi
  ;;
  *)
    # Unknown but not .o so assume it is a non-realtime executable.
    if [ ! -x plat/$emcmot_plat/bin/$emcmot ] ; then
      echo "can't run $emcmot program"
      echo "The file plat/$emcmot_plat/bin/$emcmot does not exist or is not executable."
      cleanup
      exit 1
    fi
   if [ -f ${HOME}/.debug_emcmot ] ; then
        xterm -sb -sl 1000 -e ${DEBUGGER} plat/$emcmot_plat/bin/$emcmot  &
        echo "Press ENTER when the $emcmot is running in the debugger."
        read foo
    else
        plat/$emcmot_plat/bin/$emcmot -ini $INIFILE &
    fi
    echo "done"
  ;;
esac

sleep 1

if [ $emcio = simio ] ; then
    IOEXEC_NEEDED=0;
fi

# Run emcio in background
echo -n "starting EMC IO PROGRAM --  $emcio..."
case $emcio in
  bridgeportio|minimillio|simio|ppmcio)
    if [ ! -x plat/$emcio_plat/bin/$emcio ] ; then
      echo "can't run $emcio program"
      echo "The file plat/$emcio_plat/bin/$emcio does not exist or is not executable."
      cleanup
      exit 1
    fi
    if [ $IOEXEC_NEEDED = 1 ] ; then
        /sbin/ioexec plat/$emcio_plat/bin/$emcio -ini $INIFILE &
    else
	if [ -f ${HOME}/.debug_emcio ] ; then
		xterm -sb -sl 1000 -e ${DEBUGGER} plat/$emcio_plat/bin/$emcio  &
	    echo "Press ENTER when the $emcio is running in the debugger."
		read foo
	else
	    plat/$emcio_plat/bin/$emcio -ini $INIFILE &
	fi
    fi
    echo "done"
  ;;
  tkio)
    if [ ! -x plat/$emcio_plat/bin/$emcio ] ; then
      echo "can't run $emcio program"
      echo "The file plat/$emcio_plat/bin/$emcio does not exist or is not executable."
      cleanup
      exit 1
    fi
    if [ $IOEXEC_NEEDED = 1 ] ; then
        /sbin/ioexec plat/$emcio_plat/bin/$emcio -- -ini $INIFILE &
    else
	if [ -f ${HOME}/.debug_emcio ] ; then
		xterm -sb -sl 1000 -e ${DEBUGGER} plat/$emcio_plat/bin/$emcio  &
	    echo "Press ENTER when the $emcio is running in the debugger."
		read foo
	else
	    plat/$emcio_plat/bin/$emcio -ini $INIFILE &
	fi
    fi
    echo "done"
  ;;
  *)
    if [ ! -x plat/$emcio_plat/bin/$emcio ] ; then
      echo "can't run $emcio program"
      cleanup
      exit 1
    fi
    if [ $IOEXEC_NEEDED = 1 ] ; then
        /sbin/ioexec plat/$emcio_plat/bin/$emcio -ini $INIFILE &
    else
	if [ -f ${HOME}/.debug_emcio ] ; then
		xterm -sb -sl 1000 -e ${DEBUGGER} plat/$emcio_plat/bin/$emcio  &
	    echo "Press ENTER when the $emcio is running in the debugger."
		read foo
	else
	    plat/$emcio_plat/bin/$emcio -ini $INIFILE &
	fi
    fi
    echo "done"
  ;;
esac

sleep 1

# Run emctask in background
echo -n "starting EMC TASK PROGRAM -- $emctask..."
case $emctask in
  bridgeporttask|minimilltask)
    if [ ! -x plat/$emctask_plat/bin/$emctask ] ; then
      echo "can't run $emctask program"
      echo "The file plat/$emctask_plat/bin/$emctask does not exist or is not executable."
      cleanup
      exit 1
    fi
   if [ -f ${HOME}/.debug_emctask ] ; then
        xterm -sb -sl 1000 -e ${DEBUGGER} plat/$emctask_plat/bin/$emctask  &
        echo "Enter 'y' when the $emctask is running in the debugger."
	confirm=""
	while [ "${confirm}" != "y" ] ; do
	    read confirm
	done
    else
        plat/$emctask_plat/bin/$emctask -ini $INIFILE &
    fi
    echo "done"
  ;;
  *)
    if [ ! -x plat/$emctask_plat/bin/$emctask ] ; then
      echo "can't run $emctask program"
      echo "The file plat/$emctask_plat/bin/$emctask does not exist or is not executable."
      cleanup
      exit 1
    fi
    if [ -f ${HOME}/.debug_emctask ] ; then
        xterm -sb -sl 1000 -e ${DEBUGGER} plat/$emctask_plat/bin/$emctask  &
        echo "Press ENTER when the $emctask is running in the debugger."
        read foo
    else
        plat/$emctask_plat/bin/$emctask -ini $INIFILE &
    fi
    echo "done"
  ;;
esac

sleep 1

# Run emcserver in background, if necessary
case $emcserver in
  emcsvr)
    if [ ! -x plat/$emcserver_plat/bin/$emcserver ] ; then
      echo "can't run $emcserver program"
      echo "The file plat/$emcserver_plat/bin/$emcserver does not exist or is not executable."
      cleanup
      exit 1
    fi
    echo -n "starting EMC SERVER PROGRAM -- $emcserver..."
    plat/$emcserver_plat/bin/$emcserver -ini $INIFILE &
    echo "done"
  ;;
  "")
  ;;
  *)
    if [ ! -x plat/$emcserver_plat/bin/$emcserver ] ; then
      echo "can't run $emcserver program"
      echo "The file plat/$emcserver_plat/bin/$emcserver does not exist or is not executable."
      cleanup
      exit 1
    fi
    echo -n "starting $emcserver..."
    plat/$emcserver_plat/bin/$emcserver -ini $INIFILE &
    echo "done"
  ;;
esac

sleep 1

# Run emcstrip in background, if necessary
case $emcstrip in
  emcstripchart)
    if [ ! -x plat/$emcstrip_plat/bin/$emcstrip ] ; then
      echo "can't run $emcstrip program"
      echo "The file plat/$emcstrip_plat/bin/$emcstrip does not exist or is not executable."
    fi
    echo -n "starting $emcstrip $emcstrip_options ..."
    plat/$emcstrip_plat/bin/$emcstrip $emcstrip_options -- -ini $INIFILE  &
    echo "done"
  ;;
  "")
  ;;
  *)
    if [ ! -x plat/$emcstrip_plat/bin/$emcstrip ] ; then
      echo "can't run $emcstrip program"
      echo "The file plat/$emcstrip_plat/bin/$emcstrip does not exist or is not executable."
    fi
    echo -n "starting $emcstrip..."
    plat/$emcstrip_plat/bin/$emcstrip $emcstrip_options -- -ini $INIFILE &
    echo "done"
  ;;
esac

sleep 1

if [ -f ~/.debug_scripts ] ; then
    ps -ael
    ipcs 
    /sbin/lsmod 
fi

# Run display in foreground
echo "running EMC DISPLAY PROGRAM -- $display..."
case $display in
  xemc|yemc|emcpanel|keystick)
    if [ ! -x plat/$display_plat/bin/$display ] ; then
      echo "can't run $display program"
      echo "The file plat/$display_plat/bin/$display does not exist or is not executable."
      cleanup
      exit 1
    fi
    plat/$display_plat/bin/$display -ini $INIFILE
  ;;
  tkemc)
    if [ ! -x plat/$display_plat/bin/$display ] ; then
      echo "can't run $display program"
      echo "The file plat/$display_plat/bin/$display does not exist or is not executable."
      cleanup
      exit 1
    fi
# need to run tkemc with -- arg to separate remaining args
    plat/$display_plat/bin/$display -- -ini $INIFILE
  ;;
  *)
    if [ ! -x plat/$display_plat/bin/$display ] ; then
      echo "can't run $display program"
      echo "The file plat/$display_plat/bin/$display does not exist or is not executable."
      cleanup
      exit 1
    fi
    plat/$display_plat/bin/$display -ini $INIFILE
  ;;
esac

sleep 1

if [ -f ~/.debug_scripts -o -f ~/.pause_before_cleanup ] ; then
    echo 'Press <ENTER> or <RETURN> to continue.'
    read foo;
fi


# Now display finished, so let's clean up
cleanup

exit 0