Added runtime/spawn_subprocess.py. Force use posix spawn instead of fork, with API similar to subprocess. Using fork in runtime is incompatible with Xenomai, because memory is locked and this can lead to out of memory error.
<?xml version="1.0" encoding="UTF-8"?>
<!-- edited with XMLSpy v2006 sp2 U (http://www.altova.com) by Beckmann (BECKHOFF Automation GmbH) -->
<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema" elementFormDefault="qualified" attributeFormDefault="unqualified">
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<xs:attribute name="WriteRestrictions">
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<xs:element name="Name" type="xs:string"/>
<xs:element name="DisplayName" type="NameType" minOccurs="0" maxOccurs="unbounded">
<xs:annotation>
<xs:documentation>for future use</xs:documentation>
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<xs:element name="Type" type="xs:string"/>
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<xs:documentation>obsolete</xs:documentation>
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<xs:annotation>
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<xs:documentation>obsolete</xs:documentation>
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<xs:element name="Attribute" type="HexDecValue" minOccurs="0"/>
<xs:element name="Transition" minOccurs="0">
<xs:annotation>
<xs:documentation>obsolete</xs:documentation>
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<xs:simpleType>
<xs:restriction base="xs:NMTOKEN">
<xs:enumeration value="IP"/>
<xs:enumeration value="PS"/>
<xs:enumeration value="SO"/>
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<xs:element name="SdoAccess" minOccurs="0">
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<xs:restriction base="xs:NMTOKEN">
<xs:enumeration value="CompleteAccess"/>
<xs:enumeration value="SubIndexAccess"/>
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<xs:element name="MaxData" type="xs:hexBinary" minOccurs="0"/>
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<xs:element name="Unit" type="HexDecValue" minOccurs="0"/>
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<xs:element name="Index">
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<xs:attribute name="DependOnSlotGroup" type="xs:boolean" use="optional"/>
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<xs:element name="Name" type="NameType" minOccurs="0" maxOccurs="unbounded"/>
<xs:element name="Comment" type="xs:string" minOccurs="0"/>
<xs:element name="DataType" minOccurs="0">
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<xs:simpleContent>
<xs:extension base="xs:string">
<xs:attribute name="DScale" use="optional">
<xs:simpleType>
<xs:restriction base="xs:string">
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<xs:enumeration value="0-10"/>
<xs:enumeration value="0-20"/>
<xs:enumeration value="4-20"/>
<xs:enumeration value="0.1°"/>
<xs:enumeration value="0-10(16)"/>
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<xs:enumeration value="4-20(16)"/>
<xs:enumeration value="0.01°"/>
<xs:enumeration value="0-5"/>
<xs:enumeration value="0-30"/>
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<xs:enumeration value="+/-5"/>
<xs:enumeration value="+/-2.5"/>
<xs:enumeration value="+/-100"/>
<xs:enumeration value="0-5(16)"/>
<xs:enumeration value="0-30(16)"/>
<xs:enumeration value="0-50(16)"/>
<xs:enumeration value="+/-75mV"/>
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<xs:attribute name="SwapData" use="optional">
<xs:simpleType>
<xs:restriction base="xs:NMTOKEN">
<xs:enumeration value="Swap_HB_LB"/>
<xs:enumeration value="Swap_HW_LW"/>
<xs:enumeration value="Swap_HB_LB_HW_LW"/>
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</xs:simpleType>
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<xs:element name="Index">
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<xs:simpleContent>
<xs:extension base="HexDecValue">
<xs:attribute name="DependOnSlot" type="xs:boolean" use="optional"/>
<xs:attribute name="DependOnSlotGroup" type="xs:boolean" use="optional"/>
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<xs:attribute name="Virtual" type="xs:boolean" use="optional"/>
<xs:attribute name="Sm" type="xs:int" use="optional"/>
<xs:attribute name="Su" type="xs:int" use="optional"/>
<xs:attribute name="PdoOrder" type="xs:int" use="optional">
<xs:annotation>
<xs:documentation>obsolete</xs:documentation>
</xs:annotation>
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<xs:attribute name="OSFac" type="xs:int" use="optional"/>
<xs:attribute name="OSMin" type="xs:int" use="optional"/>
<xs:attribute name="OSMax" type="xs:int" use="optional"/>
<xs:attribute name="OSIndexInc" type="xs:int" use="optional"/>
<xs:attribute name="OverwrittenByModule" type="xs:boolean" use="optional"/>
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<xs:element name="AddInfo" type="xs:int" minOccurs="0"/>
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<xs:element name="ChannelCount" type="xs:int"/>
<xs:element name="ChannelInfo" maxOccurs="unbounded">
<xs:complexType>
<xs:sequence>
<xs:element name="ProfileNo" type="xs:int"/>
<xs:element name="AddInfo" type="xs:int" minOccurs="0"/>
<xs:element name="DisplayName" type="NameType" minOccurs="0" maxOccurs="unbounded"/>
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<xs:attribute name="OverwrittenByModule" type="xs:boolean" use="optional"/>
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</xs:choice>
<xs:choice minOccurs="0">
<xs:element name="DictionaryFile" type="xs:string" minOccurs="0"/>
<xs:element name="Dictionary" type="DictionaryType" minOccurs="0">
<xs:keyref name="ObjectTypesRef" refer="DataTypesKey">
<xs:selector xpath="./Objects/Object"/>
<xs:field xpath="Type"/>
</xs:keyref>
<xs:key name="DataTypesKey">
<xs:selector xpath="./DataTypes/DataType"/>
<xs:field xpath="Name"/>
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<xs:element name="DiagMessages" minOccurs="0">
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<xs:element name="MessageText" type="NameType" maxOccurs="unbounded"/>
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</xs:element>
<xs:element name="VendorSpecific" type="VendorSpecificType" minOccurs="0"/>
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</xs:complexType>
<xs:complexType name="VendorType">
<xs:sequence>
<xs:element name="Id" type="HexDecValue"/>
<xs:element name="Name" type="NameType" maxOccurs="unbounded"/>
<xs:element name="Comment" type="NameType" minOccurs="0" maxOccurs="unbounded"/>
<xs:element name="URL" type="NameType" minOccurs="0" maxOccurs="unbounded"/>
<xs:element name="DescriptionURL" type="xs:string" minOccurs="0"/>
<xs:choice>
<xs:element name="Image16x14" type="xs:string" minOccurs="0">
<xs:annotation>
<xs:documentation>obsolete</xs:documentation>
</xs:annotation>
</xs:element>
<xs:element name="ImageFile16x14" type="xs:string" minOccurs="0"/>
<xs:element name="ImageData16x14" type="xs:hexBinary" minOccurs="0"/>
</xs:choice>
<xs:element name="VendorSpecific" type="VendorSpecificType" minOccurs="0"/>
</xs:sequence>
<xs:attribute name="UniqueName" type="xs:string" use="optional">
<xs:annotation>
<xs:documentation>obsolete</xs:documentation>
</xs:annotation>
</xs:attribute>
</xs:complexType>
<xs:complexType name="ModuleType">
<xs:sequence>
<xs:element name="Type">
<xs:complexType>
<xs:simpleContent>
<xs:extension base="xs:string">
<xs:attribute name="ModuleIdent" type="HexDecValue" use="required"/>
<xs:attribute name="ModuleClass" type="xs:string" use="optional"/>
<xs:attribute name="ModulePdoGroup" type="xs:int" use="optional"/>
</xs:extension>
</xs:simpleContent>
</xs:complexType>
</xs:element>
<xs:element name="Name" type="NameType" maxOccurs="unbounded"/>
<xs:element name="RxPdo" type="PdoType" minOccurs="0" maxOccurs="unbounded"/>
<xs:element name="TxPdo" type="PdoType" minOccurs="0" maxOccurs="unbounded"/>
<xs:element name="SafetyParaMapping" type="PdoType" minOccurs="0"/>
<xs:element name="Mailbox" minOccurs="0">
<xs:complexType>
<xs:sequence>
<xs:element name="CoE" minOccurs="0">
<xs:complexType>
<xs:sequence>
<xs:element name="InitCmd" minOccurs="0" maxOccurs="unbounded">
<xs:complexType>
<xs:sequence>
<xs:element name="Transition" maxOccurs="unbounded">
<xs:simpleType>
<xs:restriction base="xs:NMTOKEN">
<xs:enumeration value="PS"/>
<xs:enumeration value="SO"/>
<xs:enumeration value="SP"/>
<xs:enumeration value="OP"/>
<xs:enumeration value="OS"/>
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</xs:simpleType>
</xs:element>
<xs:element name="Index">
<xs:complexType>
<xs:simpleContent>
<xs:extension base="HexDecValue">
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<xs:attribute name="DependOnSlotGroup" type="xs:boolean" use="optional"/>
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<xs:element name="SubIndex" type="HexDecValue"/>
<xs:element name="Data">
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<xs:simpleContent>
<xs:extension base="xs:hexBinary">
<xs:attribute name="AdaptAutomatically" type="xs:boolean" use="optional"/>
</xs:extension>
</xs:simpleContent>
</xs:complexType>
</xs:element>
<xs:element name="Comment" type="xs:string" minOccurs="0"/>
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<xs:attribute name="Fixed" type="xs:boolean" use="optional"/>
<xs:attribute name="CompleteAccess" type="xs:boolean" use="optional"/>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute name="SdoInfo" type="xs:boolean" use="optional"/>
<xs:attribute name="PdoAssign" type="xs:boolean" use="optional"/>
<xs:attribute name="PdoConfig" type="xs:boolean" use="optional"/>
<xs:attribute name="PdoUpload" type="xs:boolean" use="optional"/>
<xs:attribute name="CompleteAccess" type="xs:boolean" use="optional"/>
<xs:attribute name="EdsFile" type="xs:string" use="optional"/>
<xs:attribute name="SegmentedSdo" type="xs:boolean" use="optional"/>
<xs:attribute name="ModuleOD" type="xs:boolean" use="optional"/>
</xs:complexType>
</xs:element>
</xs:sequence>
</xs:complexType>
</xs:element>
<xs:element name="Profile" type="ProfileType" minOccurs="0"/>
<xs:element name="DcOpModeName" type="xs:string" minOccurs="0"/>
<xs:choice minOccurs="0">
<xs:element name="Image16x14" type="xs:string" minOccurs="0">
<xs:annotation>
<xs:documentation>obsolete</xs:documentation>
</xs:annotation>
</xs:element>
<xs:element name="ImageFile16x14" type="xs:string" minOccurs="0"/>
<xs:element name="ImageData16x14" type="xs:hexBinary" minOccurs="0"/>
</xs:choice>
<xs:element name="VendorSpecific" type="VendorSpecificType" minOccurs="0"/>
</xs:sequence>
</xs:complexType>
</xs:schema>