etherlab/runtime_etherlab.py
author Laurent Bessard
Fri, 29 Mar 2013 01:13:17 +0100
changeset 2110 e8c43f542eb1
parent 2086 8e4992e0f147
child 2114 fc1bc441cf71
permissions -rw-r--r--
Fixed bug with process variables grid
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import subprocess,sys,ctypes
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from threading import Thread
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SDOAnswered = PLCBinary.SDOAnswered
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SDOAnswered.restype = None
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SDOAnswered.argtypes = []
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SDOThread = None
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Result = None
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def SDOThreadProc(*params):
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    global Result
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    if params[0] == "upload":
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        command = "ethercat upload -p %d -t %s 0x%.4x 0x%.2x"
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    else:
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        command = "ethercat download -p %d -t %s 0x%.4x 0x%.2x %s"
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    proc = subprocess.Popen(command % params[1:], stdout=subprocess.PIPE, shell=True)
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    res = proc.wait()
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    output = proc.communicate()[0]
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    if params[0] == "upload":
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        Result = None
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        if res == 0:
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            if params[2] in ["float", "double"]:
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                Result = float(output)
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            elif params[2] in ["string", "octet_string", "unicode_string"]:
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                Result = output
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            else:
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                hex_value, dec_value = output.split()
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                if int(hex_value, 16) == int(dec_value):
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                    Result = int(dec_value)
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    else:
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        Result = res == 0
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    SDOAnswered()
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def EthercatSDOUpload(pos, index, subindex, var_type):
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    global SDOThread
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    SDOThread = Thread(target=SDOThreadProc, args=["upload", pos, var_type, index, subindex])
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    SDOThread.start()
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def EthercatSDODownload(pos, index, subindex, var_type, value):
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    global SDOThread
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    SDOThread = Thread(target=SDOThreadProc, args=["download", pos, var_type, index, subindex, value])
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    SDOThread.start()
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def GetResult():
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    global Result
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    return Result