Laurent@2086: import subprocess,sys,ctypes
Laurent@2086: from threading import Thread
Laurent@2086: 
Laurent@2086: SDOAnswered = PLCBinary.SDOAnswered
Laurent@2086: SDOAnswered.restype = None
Laurent@2086: SDOAnswered.argtypes = []
Laurent@2086: 
Laurent@2086: SDOThread = None
Laurent@2086: Result = None
Laurent@2086: 
Laurent@2086: def SDOThreadProc(*params):
Laurent@2086:     global Result
Laurent@2086:     if params[0] == "upload":
Laurent@2086:         command = "ethercat upload -p %d -t %s 0x%.4x 0x%.2x"
Laurent@2086:     else:
Laurent@2086:         command = "ethercat download -p %d -t %s 0x%.4x 0x%.2x %s"
Laurent@2086:     
Laurent@2086:     proc = subprocess.Popen(command % params[1:], stdout=subprocess.PIPE, shell=True)
Laurent@2086:     res = proc.wait()
Laurent@2086:     output = proc.communicate()[0]
Laurent@2086:     
Laurent@2086:     if params[0] == "upload":
Laurent@2086:         Result = None
Laurent@2086:         if res == 0:
Laurent@2086:             if params[2] in ["float", "double"]:
Laurent@2086:                 Result = float(output)
Laurent@2086:             elif params[2] in ["string", "octet_string", "unicode_string"]:
Laurent@2086:                 Result = output
Laurent@2086:             else:
Laurent@2086:                 hex_value, dec_value = output.split()
Laurent@2086:                 if int(hex_value, 16) == int(dec_value):
Laurent@2086:                     Result = int(dec_value)
Laurent@2086:     else:
Laurent@2086:         Result = res == 0
Laurent@2086:     
Laurent@2086:     SDOAnswered()
Laurent@2086:     
Laurent@2086: def EthercatSDOUpload(pos, index, subindex, var_type):
Laurent@2086:     global SDOThread
Laurent@2086:     SDOThread = Thread(target=SDOThreadProc, args=["upload", pos, var_type, index, subindex])
Laurent@2086:     SDOThread.start()
Laurent@2086:     
Laurent@2086: def EthercatSDODownload(pos, index, subindex, var_type, value):
Laurent@2086:     global SDOThread
Laurent@2086:     SDOThread = Thread(target=SDOThreadProc, args=["download", pos, var_type, index, subindex, value])
Laurent@2086:     SDOThread.start()
Laurent@2086: 
Laurent@2086: def GetResult():
Laurent@2086:     global Result
Laurent@2086:     return Result