1 import subprocess,sys,ctypes

     2 from threading import Thread

     3 

     4 SDOAnswered = PLCBinary.SDOAnswered

     5 SDOAnswered.restype = None

     6 SDOAnswered.argtypes = []

     7 

     8 SDOThread = None

     9 Result = None

    10 

    11 def SDOThreadProc(*params):

    12     global Result

    13     if params[0] == "upload":

    14         command = "ethercat upload -p %d -t %s 0x%.4x 0x%.2x"

    15     else:

    16         command = "ethercat download -p %d -t %s 0x%.4x 0x%.2x %s"

    17     

    18     proc = subprocess.Popen(command % params[1:], stdout=subprocess.PIPE, shell=True)

    19     res = proc.wait()

    20     output = proc.communicate()[0]

    21     

    22     if params[0] == "upload":

    23         Result = None

    24         if res == 0:

    25             if params[2] in ["float", "double"]:

    26                 Result = float(output)

    27             elif params[2] in ["string", "octet_string", "unicode_string"]:

    28                 Result = output

    29             else:

    30                 hex_value, dec_value = output.split()

    31                 if int(hex_value, 16) == int(dec_value):

    32                     Result = int(dec_value)

    33     else:

    34         Result = res == 0

    35     

    36     SDOAnswered()

    37     

    38 def EthercatSDOUpload(pos, index, subindex, var_type):

    39     global SDOThread

    40     SDOThread = Thread(target=SDOThreadProc, args=["upload", pos, var_type, index, subindex])

    41     SDOThread.start()

    42     

    43 def EthercatSDODownload(pos, index, subindex, var_type, value):

    44     global SDOThread

    45     SDOThread = Thread(target=SDOThreadProc, args=["download", pos, var_type, index, subindex, value])

    46     SDOThread.start()

    47 

    48 def GetResult():

    49     global Result

    50     return Result