--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/runtime_etherlab.py	Thu Oct 25 19:55:02 2012 +0200
@@ -0,0 +1,50 @@
+import subprocess,sys,ctypes
+from threading import Thread
+
+SDOAnswered = PLCBinary.SDOAnswered
+SDOAnswered.restype = None
+SDOAnswered.argtypes = []
+
+SDOThread = None
+Result = None
+
+def SDOThreadProc(*params):
+    global Result
+    if params[0] == "upload":
+        command = "ethercat upload -p %d -t %s 0x%.4x 0x%.2x"
+    else:
+        command = "ethercat download -p %d -t %s 0x%.4x 0x%.2x %s"
+    
+    proc = subprocess.Popen(command % params[1:], stdout=subprocess.PIPE, shell=True)
+    res = proc.wait()
+    output = proc.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()
+    
+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