beremiz

Added support for MC_*DigitalOutput, MC_ReadAxisInfo and MC_ReadAxisError blocks from MCL in DS402 nodes generated code

2013-02-07, Laurent Bessard
c9b0340ea0f5
Added support for MC_*DigitalOutput, MC_ReadAxisInfo and MC_ReadAxisError blocks from MCL in DS402 nodes generated code
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