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"?>
<project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xmlns="http://www.plcopen.org/xml/tc6.xsd"
xmlns:xhtml="http://www.w3.org/1999/xhtml"
xsi:schemaLocation="http://www.plcopen.org/xml/tc6.xsd">
<fileHeader companyName="beremiz"
productName="beremiz"
productVersion="1"
creationDateTime="2008-06-24T18:44:00"/>
<contentHeader name="canopen_slave"
modificationDateTime="2008-10-24T09:32:01"
language="en-US">
<coordinateInfo>
<fbd>
<scaling x="0" y="0"/>
</fbd>
<ld>
<scaling x="0" y="0"/>
</ld>
<sfc>
<scaling x="0" y="0"/>
</sfc>
</coordinateInfo>
</contentHeader>
<types>
<dataTypes/>
<pous>
<pou name="test_main" pouType="program">
<interface>
<localVars>
<variable name="outvar" address="%QW0.0.8192.0">
<type>
<INT/>
</type>
</variable>
<variable name="invar" address="%IW0.0.8193.0">
<type>
<INT/>
</type>
</variable>
</localVars>
</interface>
<body>
<FBD>
<outVariable localId="1" height="29" width="80">
<position x="362" y="140"/>
<connectionPointIn>
<relPosition x="0" y="14"/>
<connection refLocalId="4" formalParameter="OUT">
<position x="362" y="154"/>
<position x="330" y="154"/>
<position x="330" y="153"/>
<position x="299" y="153"/>
</connection>
</connectionPointIn>
<expression>outvar</expression>
</outVariable>
<inVariable localId="2" height="29" width="20">
<position x="100" y="115"/>
<connectionPointOut>
<relPosition x="20" y="14"/>
</connectionPointOut>
<expression>1</expression>
</inVariable>
<block localId="4" width="75" height="60" typeName="ADD">
<position x="224" y="123"/>
<inputVariables>
<variable formalParameter="IN1">
<connectionPointIn>
<relPosition x="0" y="30"/>
<connection refLocalId="2">
<position x="224" y="153"/>
<position x="183" y="153"/>
<position x="183" y="129"/>
<position x="120" y="129"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="IN2">
<connectionPointIn>
<relPosition x="0" y="50"/>
<connection refLocalId="5">
<position x="224" y="173"/>
<position x="187" y="173"/>
<position x="187" y="187"/>
<position x="150" y="187"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="75" y="30"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<inVariable localId="5" height="29" width="60">
<position x="90" y="173"/>
<connectionPointOut>
<relPosition x="60" y="14"/>
</connectionPointOut>
<expression>invar</expression>
</inVariable>
</FBD>
</body>
</pou>
</pous>
</types>
<instances>
<configurations>
<configuration name="conf">
<resource name="res">
<task name="tache" interval="00:00:00.010000" priority="0">
<pouInstance name="toto" type="test_main"/>
</task>
</resource>
</configuration>
</configurations>
</instances>
</project>