--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/runtime_etherlab.py	Sat Jun 23 09:17:20 2018 +0200
@@ -0,0 +1,108 @@
+import os,subprocess,sys,ctypes
+from threading import Thread
+import ctypes,time,re
+from targets.typemapping import LogLevelsDict
+
+SDOAnswered = PLCBinary.SDOAnswered
+SDOAnswered.restype = None
+SDOAnswered.argtypes = []
+
+SDOThread = None
+SDOProc = None
+Result = None
+
+def SDOThreadProc(*params):
+    global Result, SDOProc
+    if params[0] == "upload":
+        cmdfmt = "ethercat upload -p %d -t %s 0x%.4x 0x%.2x"
+    else:
+        cmdfmt = "ethercat download -p %d -t %s 0x%.4x 0x%.2x %s"
+    
+    command = cmdfmt % params[1:]
+    SDOProc = subprocess.Popen(command, stdout=subprocess.PIPE, shell=True)
+    res = SDOProc.wait()
+    output = SDOProc.communicate()[0]
+    
+    if params[0] == "upload":
+        Result = None
+        if res == 0:
+            if params[2] in ["float", "double"]:
+                Result = float(output)
+            elif params[2] in ["string", "octet_string", "unicode_string"]:
+                Result = output
+            else:
+                hex_value, dec_value = output.split()
+                if int(hex_value, 16) == int(dec_value):
+                    Result = int(dec_value)
+    else:
+        Result = res == 0
+    
+    SDOAnswered()
+    if res != 0 :
+        PLCObject.LogMessage(
+            LogLevelsDict["WARNING"], 
+            "%s : %s"%(command,output))
+    
+def EthercatSDOUpload(pos, index, subindex, var_type):
+    global SDOThread
+    SDOThread = Thread(target=SDOThreadProc, args=["upload", pos, var_type, index, subindex])
+    SDOThread.start()
+    
+def EthercatSDODownload(pos, index, subindex, var_type, value):
+    global SDOThread
+    SDOThread = Thread(target=SDOThreadProc, args=["download", pos, var_type, index, subindex, value])
+    SDOThread.start()
+
+def GetResult():
+    global Result
+    return Result
+
+KMSGPollThread=None
+StopKMSGThread=False
+def KMSGPollThreadProc():
+    """
+    Logs Kernel messages starting with EtherCAT
+    Uses GLibc wrapper to Linux syscall "klogctl"
+    Last 4 KB are polled, and lines compared to last 
+    captured line to detect new lines
+    """
+    global StopKMSGThread
+    libc=ctypes.CDLL("libc.so.6")
+    klog = libc.klogctl
+    klog.argtypes = [ctypes.c_int, ctypes.c_char_p, ctypes.c_int]
+    klog.restype = ctypes.c_int
+    s=ctypes.create_string_buffer(4*1024)
+    last = None
+    while not StopKMSGThread:
+        l = klog(3,s,len(s)-1)
+        log = s.value[:l-1]
+        if last :
+            log = log.rpartition(last)[2]
+        if log : 
+            last = log.rpartition('\n')[2]
+            for lvl,msg in re.findall(
+                            r'<(\d)>\[\s*\d*\.\d*\]\s*(EtherCAT\s*.*)$',
+                            log, re.MULTILINE):
+                PLCObject.LogMessage(
+                    LogLevelsDict[{
+                        "4":"WARNING",
+                        "3":"CRITICAL"}.get(lvl,"DEBUG")],
+                    msg)
+        time.sleep(0.5) 
+
+def _runtime_etherlab_init():
+    global KMSGPollThread, StopKMSGThread
+    StopKMSGThread = False
+    KMSGPollThread = Thread(target = KMSGPollThreadProc)
+    KMSGPollThread.start()
+
+def _runtime_etherlab_cleanup():
+    global KMSGPollThread, StopKMSGThread, SDOProc, SDOThread
+    try:
+        os.kill(SDOProc.pid, SIGTERM)
+    except:
+        pass
+    SDOThread = None
+    StopKMSGThread = True
+    KMSGPollThread = None
+