From fe8c07e17dfd6ccc278154bc6d1d509f628774b8 Mon Sep 17 00:00:00 2001
From: Vadim Sychev <sychev@diakont.com>
Date: Wed, 27 Jul 2022 13:39:58 +0300
Subject: [PATCH] =?UTF-8?q?dev(UML-981):=20=D0=A1=D0=BE=D0=B5=D0=B4=D0=B8?=
 =?UTF-8?q?=D0=BD=D0=B5=D0=BD=D0=B8=D0=B5=20=D1=81=20=D0=BA=D0=BE=D0=BD?=
 =?UTF-8?q?=D1=82=D1=80=D0=BE=D0=BB=D0=BB=D0=B5=D1=80=D0=BE=D0=BC=20=D1=83?=
 =?UTF-8?q?=D1=81=D1=82=D0=B0=D0=BD=D0=B0=D0=B2=D0=BB=D0=B8=D0=B2=D0=B0?=
 =?UTF-8?q?=D0=B5=D1=82=D1=81=D1=8F.?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Однако данные пока до контроллера не доходят.
---
 src/flags/flags.hpp                           | 34 +++++++++++
 src/log/log.hpp                               | 17 ++++++
 src/main.cpp                                  | 46 ++++++++++----
 src/profinet/profinet.cpp                     | 60 +++++++++++++++++--
 src/profinet/profinet.hpp                     | 10 ++++
 src/profinet/profinet_cb_alarm_ack_cnf.cpp    |  4 +-
 src/profinet/profinet_cb_alarm_cnf.cpp        |  4 +-
 src/profinet/profinet_cb_alarm_ind.cpp        |  4 +-
 src/profinet/profinet_cb_ccontrol_ind.cpp     |  4 +-
 src/profinet/profinet_cb_connect_ind.cpp      |  4 +-
 src/profinet/profinet_cb_dcontrol_ind.cpp     |  4 +-
 src/profinet/profinet_cb_exp_module_ind.cpp   |  4 +-
 .../profinet_cb_exp_submodule_ind.cpp         |  4 +-
 .../profinet_cb_new_data_status_ind.cpp       |  4 +-
 src/profinet/profinet_cb_read_ind.cpp         |  4 +-
 src/profinet/profinet_cb_release_ind.cpp      |  4 +-
 src/profinet/profinet_cb_reset_ind.cpp        |  4 +-
 src/profinet/profinet_cb_signal_led_ind.cpp   |  4 +-
 src/profinet/profinet_cb_state_ind.cpp        |  4 +-
 src/profinet/profinet_cb_write_ind.cpp        |  4 +-
 src/profinet/profinet_slot.cpp                |  2 +-
 src/profinet/profinet_submodule.cpp           |  2 +-
 src/profinet/profinet_submodule.hpp           |  4 +-
 src/profinet/profinet_subslot.hpp             |  2 +-
 24 files changed, 169 insertions(+), 68 deletions(-)
 create mode 100644 src/flags/flags.hpp
 create mode 100644 src/log/log.hpp

diff --git a/src/flags/flags.hpp b/src/flags/flags.hpp
new file mode 100644
index 0000000..61e0570
--- /dev/null
+++ b/src/flags/flags.hpp
@@ -0,0 +1,34 @@
+#pragma once
+
+#include <mutex>
+#include <cstdint>
+
+class Flags {
+public:
+    Flags() : flags_{0} {}
+
+    void set_flag(uint32_t mask) {
+        std::lock_guard<std::mutex> guard(mutex_);
+        flags_ |= mask;
+    }
+
+    uint32_t get_flag(uint32_t mask) {
+        std::lock_guard<std::mutex> guard(mutex_);
+        return flags_ & mask;
+    }
+
+    uint32_t get_flags() {
+        std::lock_guard<std::mutex> guard(mutex_);
+        return flags_;
+    }
+
+    void clear_flags(uint32_t mask)
+    {
+       std::lock_guard<std::mutex> guard(mutex_);
+       flags_ &= ~mask;
+    }
+    
+private:
+    uint32_t flags_;
+    mutable std::mutex mutex_;
+};
\ No newline at end of file
diff --git a/src/log/log.hpp b/src/log/log.hpp
new file mode 100644
index 0000000..4b9896d
--- /dev/null
+++ b/src/log/log.hpp
@@ -0,0 +1,17 @@
+#pragma once
+
+#include <iostream>
+#include <string>
+
+class Log {
+public:
+    Log(int log_level) : log_level_(log_level) {}
+
+    void put(std::string info) { 
+        if (log_level_ > 0)
+            std::cout << "log: " << info << std::endl; 
+    }
+
+private:
+    const int log_level_;
+};
\ No newline at end of file
diff --git a/src/main.cpp b/src/main.cpp
index 48e5248..749ef63 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -2,6 +2,7 @@
 #include "../libs/include/pnet_api.h"
 #include "profinet.hpp"
 #include <thread>
+#include <iostream>
 
 #define ECHO_MODULE_ID 0x00000040 /// Идентификатор тестового модуля
 #define ECHO_SUBMOD_ID 0x00000140 /// Идентификатор тестового подмодуля
@@ -13,25 +14,43 @@ using namespace std;
 
 uint32_t Echo_Gain = 0;
 
-struct EchoData
-{
+struct EchoData {
     uint32_t data_i;
-    float    data_f;
+    float  data_f;
 };
 
-union EchoDataMem {
+union EchoDataMem
+{
     EchoData data;
-    uint8_t  mem[sizeof(EchoData)];
+    uint8_t mem[sizeof(EchoData)];
 };
 
 EchoDataMem Echo_inpCycData;
 EchoDataMem Echo_outCycData;
 
+uint8_t be_data_inp[sizeof(EchoData)];
 
+void endian_convert_32(uint8_t * p_data)
+{
+    uint8_t tmp = p_data[1];
+    p_data[1] = p_data[2];
+    p_data[2] = tmp;
+    tmp = p_data[0];
+    p_data[0] = p_data[3];
+    p_data[3] = tmp;
+}
 
 int main(int argc, char * argv[])
 {
-    
+    Echo_inpCycData.data.data_f = 54321.9f; /// Преобразовать в big endian
+    Echo_inpCycData.data.data_i = 876;      /// Преобразовать в big endian
+
+    endian_convert_32((uint8_t*)&Echo_inpCycData.data.data_f);
+    endian_convert_32((uint8_t*)&Echo_inpCycData.data.data_i);
+
+    Echo_inpCycData.data.data_f = 0.0f;
+    Echo_inpCycData.data.data_i = 0;
+
     AppSettings app_settings = {
         .EthDevName = "enp6s1",
     };
@@ -90,15 +109,15 @@ int main(int argc, char * argv[])
      * Умножает их на определенное число Gain и передает получившиеся значения обратно в контроллер.
      * 
      */
-    /// 1. Создаем тестовый модуль ECHO: module_id = 0x40
+    /// 1. Создаем тестовый модуль ECHO: module_id = 0x40 (64)
     auto echo_module_ptr = make_shared<ProfinetModule>(ECHO_MODULE_ID, "Echo module");
     
     /// 2. Создаем конфигурацию циклических данных подмодуля
-    pnet_data_cfg_t echo_data_cfg = { PNET_DIR_NO_IO, ECHO_INPUT_DATA_SIZE, ECHO_OUTPUT_DATA_SIZE };
+    pnet_data_cfg_t echo_data_cfg = { PNET_DIR_IO, ECHO_INPUT_DATA_SIZE, ECHO_OUTPUT_DATA_SIZE };
     
-    /// 3. Создаем тестовый подмодуль для модуля ECHO
-    auto echo_submodule_ptr = make_shared<ProfinetSubmodule>(PNET_SUBMOD_DAP_IDENT, 
-                                                             "DAP Identity 1", 
+    /// 3. Создаем тестовый подмодуль ECHO: submodule_id = 0x140 (320)
+    auto echo_submodule_ptr = make_shared<ProfinetSubmodule>(ECHO_SUBMOD_ID, 
+                                                             "Echo submodule", 
                                                              echo_data_cfg, 
                                                              static_cast<void*>(Echo_inpCycData.mem),
                                                              static_cast<void*>(Echo_outCycData.mem));
@@ -125,9 +144,12 @@ int main(int argc, char * argv[])
     /// Запуск потока Profinet
     profinet.Start();
     
+    uint32_t ix = 0;
     while(1)
     {
-
+        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+        ++ix;
+        std::cout << "tick: " << ix << endl;    
     }
     
     return 0;
diff --git a/src/profinet/profinet.cpp b/src/profinet/profinet.cpp
index 043c409..e02a52e 100644
--- a/src/profinet/profinet.cpp
+++ b/src/profinet/profinet.cpp
@@ -41,6 +41,16 @@ using namespace std;
 #define APP_BG_WORKER_THREAD_PRIORITY  5
 #define APP_BG_WORKER_THREAD_STACKSIZE 4096 /* bytes */
 
+#define FLAGS_AREP_APP_READY 0x00000001
+
+//#define RELEASE
+
+#ifndef RELEASE
+    #define LOG(STR) log_.put(STR)
+#else   
+    #define LOG(STR)
+#endif
+
 static void pnetConfigure(pnet_cfg_t& cfg, ProfinetSettings& Settings, ProfinetDeviceSettings& DevSettings)
 {   
     cfg.tick_us = Settings.ticks_us;
@@ -150,8 +160,10 @@ static void pnetConfigure(pnet_cfg_t& cfg, ProfinetSettings& Settings, ProfinetD
 
 Profinet::Profinet() : m_pnet_data({nullptr, 0, UINT32_MAX, 0}),
                        m_cyclic_io_cnt{0},
-                       m_periodic_stop{false}
+                       m_periodic_stop{false},
+                       log_{1}
 {
+    
 }
 
 bool Profinet::Config(ProfinetSettings& Settings, ProfinetDeviceSettings& DevSettings)
@@ -169,9 +181,7 @@ bool Profinet::Config(ProfinetSettings& Settings, ProfinetDeviceSettings& DevSet
     m_run_period_us = Settings.ticks_us;
     m_cyclic_io_period_ms = Settings.cyclic_ms;
 
-
-
-    ///TODO Определить что передавать в cb_cfg
+    ///В колбэки pnet передается этот объект
     pnet_cfg.cb_arg = static_cast<void*>(this);
     
     utils_pnet_cfg_init_netifs(Settings.EthIface.c_str(),
@@ -362,7 +372,12 @@ bool Profinet::addSubslotAndPlugSubmodule(uint16_t slot_nbr,
         return false;
     }
 
-    ///4. Проверяем, что конфигурация данных совпадает
+    if (submodule_ptr->m_id != submodule_id)
+    {
+        return false;
+    }
+
+    ///4. Проверяем, что конфигурация данных подмодуля совпадает
     if ((submodule_ptr->m_data_cfg.data_dir != p_exp_data->data_dir) ||
         (submodule_ptr->m_data_cfg.insize != p_exp_data->insize) ||
         (submodule_ptr->m_data_cfg.outsize != p_exp_data->outsize))
@@ -521,6 +536,13 @@ void Profinet::PeriodicOperations()
         /// Ждем время в мкс: ticks_period_us, по умолчанию 1мс
         std::this_thread::sleep_for(std::chrono::microseconds(m_run_period_us));
         
+        if (flags_.get_flag(FLAGS_AREP_APP_READY))
+        {
+            pnet_application_ready (m_pnet_data.pnet_ptr, m_pnet_data.arep_for_appl_ready);
+            flags_.clear_flags(FLAGS_AREP_APP_READY);
+            LOG("FLAGS_AREP_APP_READY");
+        }
+
         /// Вызов cyclic io
         if (++m_cyclic_io_cnt >= m_cyclic_io_period_ms)
         {
@@ -613,6 +635,7 @@ void Profinet::cyclicIoData()
 
 void Profinet::Start()
 {
+    LOG("Waiting PLC connection...");
     m_periodic_thread = std::move(std::thread(&Profinet::PeriodicOperations, this));
 }
 
@@ -635,6 +658,8 @@ Profinet::~Profinet()
  */
 int Profinet::callbackStateInd ( uint32_t arep, pnet_event_values_t event)
 {
+    LOG("callbackStateInd: event = " + std::to_string(event));
+
     uint16_t err_cls = 0;  /* Error code 1 */
     uint16_t err_code = 0; /* Error code 2 */
     const char * error_class_description = "";
@@ -642,6 +667,7 @@ int Profinet::callbackStateInd ( uint32_t arep, pnet_event_values_t event)
 
     if (event == PNET_EVENT_ABORT)
     {
+        LOG("callbackStateInd:PNET_EVENT_ABORT");
         if (pnet_get_ar_error_codes (m_pnet_data.pnet_ptr, arep, &err_cls, &err_code) == 0)
         {
             /**
@@ -654,12 +680,12 @@ int Profinet::callbackStateInd ( uint32_t arep, pnet_event_values_t event)
             /// Ошибок нет
         }
 
-
         /* Only abort AR with correct session key */
         ///os_event_set (app->main_events, APP_EVENT_ABORT);
     }
     else if (event == PNET_EVENT_PRMEND)
     {
+        LOG("callbackStateInd:PNET_EVENT_PRMEND");
         if (isConnectedToController())
         {
             /// Если уже были подключены и пришел запрос на еще одно подключение
@@ -685,11 +711,13 @@ int Profinet::callbackStateInd ( uint32_t arep, pnet_event_values_t event)
             Do not call pnet_application_ready() here as it will affect
             the internal stack states */
         m_pnet_data.arep_for_appl_ready = arep;
+        flags_.set_flag(FLAGS_AREP_APP_READY);
 
         ///os_event_set (app->main_events, APP_EVENT_READY_FOR_DATA); /// 
     }
     else if (event == PNET_EVENT_DATA)
     {
+        LOG("callbackStateInd:PNET_EVENT_DATA");
         /// Стартовал обмен cyclic io
     }
     return 0;
@@ -697,6 +725,7 @@ int Profinet::callbackStateInd ( uint32_t arep, pnet_event_values_t event)
 
 int Profinet::callbackConnectInd ( uint32_t arep, pnet_result_t * p_result)
 {
+    LOG("callbackConnectInd");
     /**
      * @brief 
      * Если будет возвращено 0, то соединение будет установлено. 
@@ -710,6 +739,7 @@ int Profinet::callbackConnectInd ( uint32_t arep, pnet_result_t * p_result)
 
 int Profinet::callbackReleaseInd ( uint32_t arep, pnet_result_t * p_result)
 {
+    LOG("callbackReleaseInd");
     /**
      * @brief 
      * Cоединение будет разорвано при любом возвращаемом значении
@@ -724,6 +754,7 @@ int Profinet::callbackDcontrolInd ( uint32_t arep,
                                     pnet_control_command_t control_command,
                                     pnet_result_t * p_result)
 {
+    LOG("callbackDcontrolInd");
     /**
      * @brief 
      * Можно оставить пустым
@@ -733,6 +764,7 @@ int Profinet::callbackDcontrolInd ( uint32_t arep,
 
 int Profinet::callbackCcontrolInd ( uint32_t arep, pnet_result_t * p_result)
 {
+    LOG("callbackCcontrolInd");
     /**
      * @brief 
      * Можно оставить пустым
@@ -749,6 +781,7 @@ int Profinet::callbackReadInd ( uint32_t arep,
                                 uint16_t * p_read_length,
                                 pnet_result_t * p_result)
 {   
+    LOG("callbackReadInd");
     ///1. Проверяем, что у подмодуля есть параметр с индексом idx
     auto param_ptr = getSubmoduleParameter(slot_nbr, subslot_nbr, idx);
 
@@ -787,6 +820,7 @@ int Profinet::callbackWriteInd ( uint32_t arep,
         const uint8_t * p_write_data,
         pnet_result_t * p_result)
 {
+    LOG("callbackWriteInd");
     ///1. Проверяем, что у подмодуля есть параметр с индексом idx
     auto param_ptr = getSubmoduleParameter(slot_nbr, subslot_nbr, idx);
 
@@ -796,6 +830,7 @@ int Profinet::callbackWriteInd ( uint32_t arep,
         p_result->pnio_status.error_decode = PNET_ERROR_DECODE_PNIORW;
         p_result->pnio_status.error_code_1 = PNET_ERROR_CODE_1_APP_WRITE_ERROR;
         p_result->pnio_status.error_code_2 = 0; /* User specific */
+        LOG("callbackWriteInd: No such parameter with index " + std::to_string(idx));
         return -1;
     }
     ///2. Проверяем корректность длины данных
@@ -805,6 +840,7 @@ int Profinet::callbackWriteInd ( uint32_t arep,
         p_result->pnio_status.error_decode = PNET_ERROR_DECODE_PNIORW;
         p_result->pnio_status.error_code_1 = PNET_ERROR_CODE_1_APP_WRITE_ERROR;
         p_result->pnio_status.error_code_2 = 0; /* User specific */
+        LOG("callbackWriteInd: Wrong data length " + std::to_string(write_length) + ", will be " + std::to_string(param_ptr->length));
         return -1;
     }
 
@@ -816,11 +852,14 @@ int Profinet::callbackWriteInd ( uint32_t arep,
 
 int Profinet::callbackExpModuleInd ( uint16_t slot, uint32_t module_ident)
 {
+    LOG("callbackExpModuleInd: plug module " + std::to_string(slot) + " -> slot " + std::to_string(module_ident));
+
     bool ret = addSlotAndPlugModule(slot, module_ident);
     
     if (ret == false)
     {
         return -1;
+        LOG("Error!");
     }
     
     return 0;
@@ -832,10 +871,13 @@ int Profinet::callbackExpSubmoduleInd ( uint16_t slot,
                               uint32_t submodule_id,
                               const pnet_data_cfg_t * p_exp_data)
 {
+    LOG("callbackExpSubmoduleInd: plug submodule " + std::to_string(submodule_id) + " -> subslot " + std::to_string(subslot));
+
     bool ret = addSubslotAndPlugSubmodule(slot, subslot, module_id, submodule_id, p_exp_data);
     
     if (ret == false)
     {
+        LOG("Error!");
         return -1;
     }
     
@@ -847,6 +889,7 @@ int Profinet::callbackNewDataStatusInd ( uint32_t arep,
                                uint8_t changes,
                                uint8_t data_status)
 {
+    LOG("callbackNewDataStatusInd");
     /// Пока ничего не делаем
     return 0;
 }
@@ -857,6 +900,7 @@ int Profinet::callbackAlarmInd ( uint32_t arep,
                        uint16_t data_usi,
                        const uint8_t * p_data)
 {
+    LOG("callbackAlarmInd");
    /**
     * @brief Должен быть ответ pnet_alarm_send_ack
     * Пока заглушка
@@ -871,24 +915,28 @@ int Profinet::callbackAlarmInd ( uint32_t arep,
 
 int Profinet::callbackAlarmCnf ( uint32_t arep, const pnet_pnio_status_t * p_pnio_status)
 {
+    LOG("callbackAlarmCnf");
     /// Пока ничего не делаем
     return 0;
 }
 
 int Profinet::callbackAlarmAckCnf ( uint32_t arep, int res)
 {
+    LOG("callbackAlarmAckCnf");
     /// Пока ничего не делаем
     return 0;
 }
 
 int Profinet::callbackResetInd ( bool should_reset_application, uint16_t reset_mode)
 {
+    LOG("callbackResetInd");
     /// Пока ничего не делаем
     return 0;
 }
 
 int Profinet::callbackSignalLedInd (bool led_state)
 {
+    LOG("callbackSignalLedInd");
     /// Пока ничего не делаем
     return 0;
 }
\ No newline at end of file
diff --git a/src/profinet/profinet.hpp b/src/profinet/profinet.hpp
index 5125745..34b0768 100644
--- a/src/profinet/profinet.hpp
+++ b/src/profinet/profinet.hpp
@@ -11,6 +11,10 @@
 #include <atomic>
 #include <thread>
 
+#include "../log/log.hpp"
+#include "../flags/flags.hpp"
+
+
 class Profinet {
 public:
     Profinet();
@@ -160,6 +164,12 @@ private:
      */
     std::map<uint32_t, std::shared_ptr<ProfinetModule>> m_modules;
 
+    Log log_;
+
+    Flags flags_;
+
+    
+
 private:
     /**
      * @brief Проверяет наличие слота slot_nbr в конфигурации
diff --git a/src/profinet/profinet_cb_alarm_ack_cnf.cpp b/src/profinet/profinet_cb_alarm_ack_cnf.cpp
index 77ecde1..3a3fbda 100644
--- a/src/profinet/profinet_cb_alarm_ack_cnf.cpp
+++ b/src/profinet/profinet_cb_alarm_ack_cnf.cpp
@@ -9,7 +9,5 @@ int profinet_cb_alarm_ack_cnf (
 {
     Profinet * profinet_ptr = static_cast<Profinet*>(arg);
 
-    profinet_ptr->callbackAlarmAckCnf(arep, res);
-    
-    return 0;
+    return profinet_ptr->callbackAlarmAckCnf(arep, res);
 }
\ No newline at end of file
diff --git a/src/profinet/profinet_cb_alarm_cnf.cpp b/src/profinet/profinet_cb_alarm_cnf.cpp
index 1ea0b76..ffe5260 100644
--- a/src/profinet/profinet_cb_alarm_cnf.cpp
+++ b/src/profinet/profinet_cb_alarm_cnf.cpp
@@ -9,7 +9,5 @@ int profinet_cb_alarm_cnf (
 {
     Profinet * const profinet_ptr = static_cast<Profinet*>(arg);
     
-    profinet_ptr->callbackAlarmCnf(arep, p_pnio_status);
-
-    return 0;
+    return profinet_ptr->callbackAlarmCnf(arep, p_pnio_status);
 }
\ No newline at end of file
diff --git a/src/profinet/profinet_cb_alarm_ind.cpp b/src/profinet/profinet_cb_alarm_ind.cpp
index c7d6a07..d9d3e18 100644
--- a/src/profinet/profinet_cb_alarm_ind.cpp
+++ b/src/profinet/profinet_cb_alarm_ind.cpp
@@ -12,7 +12,5 @@ int profinet_cb_alarm_ind (
 {
     Profinet * const profinet_ptr = static_cast<Profinet*>(arg);
 
-    profinet_ptr->callbackAlarmInd(arep, p_alarm_arg, data_len, data_usi, p_data);
-
-    return 0;
+    return profinet_ptr->callbackAlarmInd(arep, p_alarm_arg, data_len, data_usi, p_data);
 }
\ No newline at end of file
diff --git a/src/profinet/profinet_cb_ccontrol_ind.cpp b/src/profinet/profinet_cb_ccontrol_ind.cpp
index e652186..1adfe82 100644
--- a/src/profinet/profinet_cb_ccontrol_ind.cpp
+++ b/src/profinet/profinet_cb_ccontrol_ind.cpp
@@ -9,7 +9,5 @@ int profinet_cb_ccontrol_ind (
 {
     Profinet * const profinet_ptr = static_cast<Profinet*>(arg);
 
-    profinet_ptr->callbackCcontrolInd(arep, p_result);
-
-    return 0;
+    return profinet_ptr->callbackCcontrolInd(arep, p_result);
 }
\ No newline at end of file
diff --git a/src/profinet/profinet_cb_connect_ind.cpp b/src/profinet/profinet_cb_connect_ind.cpp
index cd9baec..427b5e6 100644
--- a/src/profinet/profinet_cb_connect_ind.cpp
+++ b/src/profinet/profinet_cb_connect_ind.cpp
@@ -8,7 +8,5 @@ int profinet_cb_connect_ind( pnet_t * net,
 {
     Profinet * const profinet_ptr = static_cast<Profinet*>(arg);
 
-    profinet_ptr->callbackConnectInd(arep, p_result);
-
-    return 0;
+    return profinet_ptr->callbackConnectInd(arep, p_result);
 }
\ No newline at end of file
diff --git a/src/profinet/profinet_cb_dcontrol_ind.cpp b/src/profinet/profinet_cb_dcontrol_ind.cpp
index 70058f4..1971995 100644
--- a/src/profinet/profinet_cb_dcontrol_ind.cpp
+++ b/src/profinet/profinet_cb_dcontrol_ind.cpp
@@ -10,7 +10,5 @@ int profinet_cb_dcontrol_ind (
 {
     Profinet * const profinet_ptr = static_cast<Profinet*>(arg);
 
-    profinet_ptr->callbackDcontrolInd(arep, control_command, p_result);
-
-    return 0;
+    return profinet_ptr->callbackDcontrolInd(arep, control_command, p_result);
 }
\ No newline at end of file
diff --git a/src/profinet/profinet_cb_exp_module_ind.cpp b/src/profinet/profinet_cb_exp_module_ind.cpp
index 2801e11..0ea42df 100644
--- a/src/profinet/profinet_cb_exp_module_ind.cpp
+++ b/src/profinet/profinet_cb_exp_module_ind.cpp
@@ -10,7 +10,5 @@ int profinet_cb_exp_module_ind (
 {
     Profinet * const profinet_ptr = static_cast<Profinet*>(arg);
 
-    profinet_ptr->callbackExpModuleInd(slot, module_ident);
-
-    return 0;
+    return profinet_ptr->callbackExpModuleInd(slot, module_ident);
 }
\ No newline at end of file
diff --git a/src/profinet/profinet_cb_exp_submodule_ind.cpp b/src/profinet/profinet_cb_exp_submodule_ind.cpp
index deebaa7..46ad766 100644
--- a/src/profinet/profinet_cb_exp_submodule_ind.cpp
+++ b/src/profinet/profinet_cb_exp_submodule_ind.cpp
@@ -13,7 +13,5 @@ int profinet_cb_exp_submodule_ind (
 {
     Profinet * const profinet_ptr = static_cast<Profinet*>(arg);
 
-    profinet_ptr->callbackExpSubmoduleInd(slot, subslot, module_id, submodule_id, p_exp_data);
-
-    return 0;
+    return profinet_ptr->callbackExpSubmoduleInd(slot, subslot, module_id, submodule_id, p_exp_data);
 }
\ No newline at end of file
diff --git a/src/profinet/profinet_cb_new_data_status_ind.cpp b/src/profinet/profinet_cb_new_data_status_ind.cpp
index a60499a..7530a62 100644
--- a/src/profinet/profinet_cb_new_data_status_ind.cpp
+++ b/src/profinet/profinet_cb_new_data_status_ind.cpp
@@ -12,7 +12,5 @@ int profinet_cb_new_data_status_ind (
 {
     Profinet * const profinet_ptr = static_cast<Profinet*>(arg);
 
-    profinet_ptr->callbackNewDataStatusInd(arep, crep, changes, data_status);
-
-    return 0;
+    return profinet_ptr->callbackNewDataStatusInd(arep, crep, changes, data_status);
 }
\ No newline at end of file
diff --git a/src/profinet/profinet_cb_read_ind.cpp b/src/profinet/profinet_cb_read_ind.cpp
index bf1ce9d..4292a1c 100644
--- a/src/profinet/profinet_cb_read_ind.cpp
+++ b/src/profinet/profinet_cb_read_ind.cpp
@@ -16,7 +16,7 @@ int profinet_cb_read_ind (
 {
     Profinet * const profinet_ptr = static_cast<Profinet*>(arg);
 
-    profinet_ptr->callbackReadInd( arep, 
+    return profinet_ptr->callbackReadInd( arep, 
                                    slot_nbr, 
                                    subslot_nbr, 
                                    idx, 
@@ -24,6 +24,4 @@ int profinet_cb_read_ind (
                                    pp_read_data, 
                                    p_read_length, 
                                    p_result);
-
-    return 0;
 }
\ No newline at end of file
diff --git a/src/profinet/profinet_cb_release_ind.cpp b/src/profinet/profinet_cb_release_ind.cpp
index 5b40dad..f938b98 100644
--- a/src/profinet/profinet_cb_release_ind.cpp
+++ b/src/profinet/profinet_cb_release_ind.cpp
@@ -11,7 +11,5 @@ int profinet_cb_release_ind( pnet_t * net,
 {
     Profinet * const profinet_ptr = static_cast<Profinet*>(arg);
 
-    profinet_ptr->callbackReleaseInd(arep, p_result);
-
-    return 0;
+    return profinet_ptr->callbackReleaseInd(arep, p_result);
 }
\ No newline at end of file
diff --git a/src/profinet/profinet_cb_reset_ind.cpp b/src/profinet/profinet_cb_reset_ind.cpp
index e4eb1eb..43d0f95 100644
--- a/src/profinet/profinet_cb_reset_ind.cpp
+++ b/src/profinet/profinet_cb_reset_ind.cpp
@@ -9,7 +9,5 @@ int profinet_cb_reset_ind (
 {
     Profinet * const profinet_ptr = static_cast<Profinet*>(arg);
 
-    profinet_ptr->callbackResetInd(should_reset_application, reset_mode);
-
-    return 0;
+    return profinet_ptr->callbackResetInd(should_reset_application, reset_mode);
 }
\ No newline at end of file
diff --git a/src/profinet/profinet_cb_signal_led_ind.cpp b/src/profinet/profinet_cb_signal_led_ind.cpp
index 3ec3bb4..379e7f8 100644
--- a/src/profinet/profinet_cb_signal_led_ind.cpp
+++ b/src/profinet/profinet_cb_signal_led_ind.cpp
@@ -5,7 +5,5 @@ int profinet_cb_signal_led_ind (pnet_t * net, void * arg, bool led_state)
 {
     Profinet * const profinet_ptr = static_cast<Profinet*>(arg);
 
-    profinet_ptr->callbackSignalLedInd(led_state);
-
-    return 0;
+    return profinet_ptr->callbackSignalLedInd(led_state);
 }
\ No newline at end of file
diff --git a/src/profinet/profinet_cb_state_ind.cpp b/src/profinet/profinet_cb_state_ind.cpp
index 97dd174..76a673f 100644
--- a/src/profinet/profinet_cb_state_ind.cpp
+++ b/src/profinet/profinet_cb_state_ind.cpp
@@ -9,7 +9,5 @@ int profinet_cb_state_ind (
 {
     Profinet * const profinet_ptr = static_cast<Profinet*>(arg);
 
-    profinet_ptr->callbackStateInd(arep, event);
-
-    return 0;
+    return profinet_ptr->callbackStateInd(arep, event);
 }
\ No newline at end of file
diff --git a/src/profinet/profinet_cb_write_ind.cpp b/src/profinet/profinet_cb_write_ind.cpp
index 1850858..b01bfd5 100644
--- a/src/profinet/profinet_cb_write_ind.cpp
+++ b/src/profinet/profinet_cb_write_ind.cpp
@@ -16,7 +16,7 @@ int profinet_cb_write_ind (
 {
     Profinet * const profinet_ptr = static_cast<Profinet*>(arg);
 
-    profinet_ptr->callbackWriteInd( arep, 
+    return profinet_ptr->callbackWriteInd( arep, 
                                     slot_nbr, 
                                     subslot_nbr, 
                                     idx, 
@@ -24,6 +24,4 @@ int profinet_cb_write_ind (
                                     write_length, 
                                     p_write_data, 
                                     p_result);
-
-    return 0;
 }
\ No newline at end of file
diff --git a/src/profinet/profinet_slot.cpp b/src/profinet/profinet_slot.cpp
index 9beb247..1fbe26f 100644
--- a/src/profinet/profinet_slot.cpp
+++ b/src/profinet/profinet_slot.cpp
@@ -59,7 +59,7 @@ std::shared_ptr<ProfinetSubslot> ProfinetSlot::addSubslot(uint16_t subslot_nbr)
     }
     else
     {
-        subslot_ptr = std::make_shared<ProfinetSubslot>(subslot_nbr);
+        subslot_ptr = std::make_shared<ProfinetSubslot>(subslot_nbr, m_slot_nbr, m_module_ptr->m_id);
     }
 
     if (subslot_ptr != nullptr)
diff --git a/src/profinet/profinet_submodule.cpp b/src/profinet/profinet_submodule.cpp
index 4f30843..1e1af2a 100644
--- a/src/profinet/profinet_submodule.cpp
+++ b/src/profinet/profinet_submodule.cpp
@@ -1,6 +1,6 @@
 #include "profinet_submodule.hpp"
 
-ProfinetSubmodule::ProfinetSubmodule(uint16_t submodule_id, 
+ProfinetSubmodule::ProfinetSubmodule(uint32_t submodule_id, 
                       std::string submodule_name, 
                       pnet_data_cfg_t& submodule_data_cfg, 
                       void * const inp_data_ptr,
diff --git a/src/profinet/profinet_submodule.hpp b/src/profinet/profinet_submodule.hpp
index 47fa998..5c58b1c 100644
--- a/src/profinet/profinet_submodule.hpp
+++ b/src/profinet/profinet_submodule.hpp
@@ -11,7 +11,7 @@
 
 class ProfinetSubmodule {
 public:
-    ProfinetSubmodule(uint16_t submodule_id, 
+    ProfinetSubmodule(uint32_t submodule_id, 
                       std::string submodule_name, 
                       pnet_data_cfg_t& submodule_data_cfg, 
                       void * const inp_data_ptr,
@@ -24,7 +24,7 @@ public:
 
 
 public:
-    const uint16_t        m_id;               /// Идентификатор подмодуля
+    const uint32_t        m_id;               /// Идентификатор подмодуля
     const std::string     m_name;             /// Имя подмодуля
     const pnet_data_cfg_t m_data_cfg;         /// Конфигурация циклических данных подмодуля
     
diff --git a/src/profinet/profinet_subslot.hpp b/src/profinet/profinet_subslot.hpp
index 3c81e3d..37d4b61 100644
--- a/src/profinet/profinet_subslot.hpp
+++ b/src/profinet/profinet_subslot.hpp
@@ -12,7 +12,7 @@
 class ProfinetSubslot
 {
 public:
-   ProfinetSubslot(uint16_t subslot_nbr) : m_subslot_nbr(subslot_nbr) {};
+   //ProfinetSubslot(uint16_t subslot_nbr) : m_subslot_nbr(subslot_nbr) {};
    
    ProfinetSubslot(uint16_t subslot_nbr, uint16_t slot_nbr, uint32_t module_id);