dev: Сборка для BeagleBoneAI

.gitignore

@@ -3,3 +3,4 @@
 /profinet_test/sample_app/build
 /profinet_test/sample_app_echo/build
 *.bin
+/src/out

.gitmodules

@@ -0,0 +1,4 @@
+[submodule "sitara_depot"]
+	path = sitara_depot
+	url = http://server_gorbunov:3000/SmartForce4.0/sitara_depot.git
+	branch = master

README.md

@@ -187,6 +187,38 @@ echo_submod_ptr->inp_data.Write(0, Echo_inpCycData.mem, echo_submod_ptr->cyc_ind
 
 Обмен происходит с помощью json rpc, протокол описан в файле  `src/interprocess/pipes/json_rpc_protocol.txt`.
 
+## Инструкция по сборке
+ПО кроссплатформенное, настройка окружения сборки осущетсвляется в файле `CMakePresets.json`.
+
+### Сборка под x86_64
+
+Выбрать конфигурацию "x86_64 Debug" или  "x86_64 Release"
+
+### Сборка под arm cortex-a15 (sitara)
+
+Перед сборкой отредактировать значения переменных окружения:
+*   ENV_TARGET_CROSS_COMPILE_PREFIX - префикс компилятора с полным путем к нему. Например:
+`/home/svad/ti/ti-processor-sdk-linux-am57xx-evm-08_02_01_00/linux-devkit/sysroots/x86_64-arago-linux/usr/bin/arm-none-linux-gnueabihf-`
+
+*   ENV_TARGET_SYSTOOT_PATH  - путь к библиотекам целефой платформы.
+Для платы am571x-idk - это:
+`/home/svad/ti/ti-processor-sdk-linux-am57xx-evm-08_02_01_00/linux-devkit/sysroots/armv7at2hf-neon-linux-gnueabi`
+
+    SYSROOT можно выкачать из платы напрямую. Например для BeagleBoardAI есть скрипт `../sitara_depot/scripts/beagleboard/host/create_sysroot.sh`
+
+## Зависимости
+Две библиотеки:
+* osal `http://server_gorbunov:3000/SmartForce4.0/profinet_io_dev/src/branch/master/profinet_stack/osal`
+* pnet `http://server_gorbunov:3000/SmartForce4.0/profinet_io_dev/src/branch/master/profinet_stack/p-net`
+
+Библиотеки уже собраны под две архитектуры cortex-a15 и x86_64. Сбори лежат тут:
+* `http://server_gorbunov:3000/SmartForce4.0/profinet_io_dev/src/branch/master/libs/lib/arm_a15`
+* `http://server_gorbunov:3000/SmartForce4.0/profinet_io_dev/src/branch/master/libs/lib/x86_64`
+
+В названии файла d - значит дебажная версия библиотеки, например libosal.a - Release, а libosald.a - Debug.
+
+Сборка библиоитек реализована аналогично.
+
 
 
 

libs/include/pnet_version.h

@@ -16,7 +16,7 @@
 #ifndef PNET_VERSION_H
 #define PNET_VERSION_H
 
-/* #undef PROFINET_GIT_REVISION */
+#define PROFINET_GIT_REVISION "da63bec-dirty"
 
 #if !defined(PNET_VERSION_BUILD) && defined(PROFINET_GIT_REVISION)
 #define PNET_VERSION_BUILD PROFINET_GIT_REVISION

profinet_stack/osal/.vscode/settings.json

@@ -0,0 +1,70 @@
+{
+    "cmake.useCMakePresets": "always",
+    "files.associations": {
+        "typeinfo": "c",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "string": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "initializer_list": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "cinttypes": "cpp",
+        "cstring": "cpp",
+        "thread": "cpp",
+        "ctime": "cpp",
+        "chrono": "cpp",
+        "condition_variable": "cpp",
+        "map": "cpp",
+        "ratio": "cpp",
+        "mutex": "cpp",
+        "any": "cpp",
+        "codecvt": "cpp",
+        "forward_list": "cpp",
+        "list": "cpp",
+        "iomanip": "cpp",
+        "valarray": "cpp",
+        "bitset": "cpp",
+        "complex": "cpp",
+        "set": "cpp",
+        "typeindex": "cpp",
+        "variant": "cpp",
+        "cfenv": "cpp"
+    }
+}

profinet_stack/osal/CMakeLists.txt

@@ -18,6 +18,19 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/tools")
 project (OSAL VERSION 0.1.0)
 
+message("CMakeList.txt: Starting...")
+
+if (DEFINED BOARD)
+    if ( (NOT (${BOARD} STREQUAL "am5718-idk")) AND (NOT (${BOARD} STREQUAL "BeagleBoneAI")))
+        message(FATAL_ERROR "BOARD ${BOARD} unsupported!\n"
+                            "BOARD can take the following values:\n"
+                            " -- am5718-idk\n"
+                            " -- BeagleBoneAI")  
+    else()
+        message(STATUS "BOARD = " ${BOARD})
+    endif()
+endif()
+
 include(GetGitRevision)
 
 # Default settings if this is the main project
@@ -51,32 +64,60 @@ configure_file (
   version.h.in
   ${OSAL_BINARY_DIR}/src/version.h
   )
+#------------------------------------------------------------------------
+# Ïóòü ê ïàïêå ñ áèáëèîòåêàìè
+set(INSTALL_PATH ${CMAKE_SOURCE_DIR}/../../libs)
+# Ïóòü êóäà áóäóò êîïèðîâàòüñÿ ñîáðàííàÿ áèáëèîòåêà
+set(INSTALL_PATH_LIB ${INSTALL_PATH}/lib)
+
+#BOARD çàäàåòñÿ â ïàðàìåòðàõ çàïóñêà cmake, ïðîïèñàíî â .vscode/settings.json
+if (DEFINED BOARD)
+  set(SITARA_DEPOT ${CMAKE_SOURCE_DIR}/../../sitara_depot)
+  set(INSTALL_PATH_LIB ${INSTALL_PATH_LIB}/arm_a15/${BOARD})
+  include(${SITARA_DEPOT}/compile/sitara_compile_flags.cmake)
+  message(STATUS "Building for ${BOARD}")
+else()
+  set(INSTALL_PATH_LIB ${INSTALL_PATH_LIB}/x86_64)
+  message(STATUS "Building for x86")
+endif()
+# Ïóòü êóäà áóäóò êîïèðîâàòüñÿ h-ôàéëû
+set(INSTALL_PATH_INC ${INSTALL_PATH}/include)
+
+#------------------------------------------------------------------------
 
 # Add platform-dependent targets early, so they can be configured by
 # platform
-add_library(osal "")
+
+# Èìÿ áèáëèîòåêè
+set(LIB_NAME osal)
+# Äëÿ îòëàäî÷íîé âåðñèè â êîíöå äîáàâëÿåì d: osald
+if (CMAKE_BUILD_TYPE STREQUAL Debug)
+     set(LIB_NAME ${LIB_NAME}d)
+endif()
+
+add_library(${LIB_NAME} "")
 
 # Use position independent code if platform supports shared libraries
 get_property(SUPPORTS_SHARED GLOBAL PROPERTY TARGET_SUPPORTS_SHARED_LIBS)
 if (SUPPORTS_SHARED)
-  set_property(TARGET osal PROPERTY POSITION_INDEPENDENT_CODE ON)
+  set_property(TARGET ${LIB_NAME} PROPERTY POSITION_INDEPENDENT_CODE ON)
 endif()
 
-if (CMAKE_PROJECT_NAME STREQUAL OSAL AND BUILD_TESTING)
+#if (CMAKE_PROJECT_NAME STREQUAL OSAL AND BUILD_TESTING)
-  add_executable(osal_test "")
+#  add_executable(osal_test "")
-endif()
+#endif()
 
 # Platform configuration
 include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/${CMAKE_SYSTEM_NAME}.cmake)
 
-set_target_properties (osal
+set_target_properties (${LIB_NAME}
   PROPERTIES
   C_STANDARD 99
   )
 
-target_compile_features(osal PUBLIC c_std_99)
+target_compile_features(${LIB_NAME} PUBLIC c_std_99)
 
-target_include_directories(osal
+target_include_directories(${LIB_NAME}
   PUBLIC
   $<BUILD_INTERFACE:${OSAL_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>
@@ -86,8 +127,9 @@ target_include_directories(osal
   )
 
 install(
-  TARGETS osal
+  TARGETS ${LIB_NAME}
   EXPORT OsalTargets
+  DESTINATION ${INSTALL_PATH_LIB}
   )
 
 install(
@@ -112,14 +154,14 @@ install(FILES
 install(FILES
   include/osal.h
   include/osal_log.h
-  DESTINATION include
+  DESTINATION ${INSTALL_PATH_INC}
   )
 
-if (CMAKE_PROJECT_NAME STREQUAL OSAL AND BUILD_TESTING)
+#if (CMAKE_PROJECT_NAME STREQUAL OSAL AND BUILD_TESTING)
-  add_subdirectory (test)
+#  add_subdirectory (test)
-  include(AddGoogleTest)
+#  include(AddGoogleTest)
-  add_gtest(osal_test)
+#  add_gtest(osal_test)
-endif()
+#endif()
 
 # Doxygen configuration
 cmake_policy(SET CMP0057 NEW)

profinet_stack/osal/CMakePresets.json

@@ -0,0 +1,110 @@
+{
+    "version": 3,
+    "configurePresets": [
+        {
+            "name": "default",
+            "displayName": "default",
+            "description": "Default build using Ninja generator",
+            "generator": "Ninja",
+            "binaryDir": "${sourceDir}/out/build/${presetName}",
+            "cacheVariables": {
+                "CMAKE_INSTALL_PREFIX": "${sourceDir}/out/install/${presetName}"
+            }
+        },
+        {
+            "name": "x86_64_Debug",
+            "inherits": "default",
+            "displayName": "x86_64 Debug",
+            "description": "Degub build for x86_64",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Debug",
+                "CMAKE_C_COMPILER": "gcc",
+                "CMAKE_CXX_COMPILER": "g++"
+            }
+        },
+        {
+            "name": "x86_64_Release",
+            "inherits": "x86_64_Debug",
+            "displayName": "x86_64 Release",
+            "description": "Release build for x86_64",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Release"
+            }
+        },
+        {
+            "name": "am571x_idk_Debug",
+            "inherits": "default",
+            "displayName": "am571x-idk Debug",
+            "description": "Degub build for AM571x-IDK board(arm cortex-a15)",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Debug",
+                "CMAKE_TOOLCHAIN_FILE": "${workspaceFolder}/../../sitara_depot/compile/toolchain.cmake",
+                "BOARD": "am5718-idk"
+            },
+            "environment": {
+                "ENV_TARGET_CROSS_COMPILE_PREFIX": "/home/svad/ti/ti-processor-sdk-linux-am57xx-evm-08_02_01_00/linux-devkit/sysroots/x86_64-arago-linux/usr/bin/arm-none-linux-gnueabihf-",
+                "ENV_TARGET_SYSTOOT_PATH": "/home/svad/ti/ti-processor-sdk-linux-am57xx-evm-08_02_01_00/linux-devkit/sysroots/armv7at2hf-neon-linux-gnueabi"
+            }
+        },
+        {
+            "name": "am571x_idk_Release",
+            "inherits": "am571x_idk_Debug",
+            "displayName": "am571x-idk Release",
+            "description": "Release build for AM571x-IDK board(arm cortex-a15)",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Release"
+            }
+        },
+        {
+            "name": "BeagleBoneAI_Debug",
+            "inherits": "default",
+            "displayName": "BeagleBoneAI Debug",
+            "description": "Degub build for BeagleBoneAI board(arm cortex-a15)",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Debug",
+                "CMAKE_TOOLCHAIN_FILE": "${workspaceFolder}/../../sitara_depot/compile/toolchain.cmake",
+                "BOARD": "BeagleBoneAI"
+            },
+            "environment": {
+                "ENV_TARGET_CROSS_COMPILE_PREFIX": "/home/svad/armdev/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin/arm-linux-gnueabihf-",
+                "ENV_TARGET_SYSTOOT_PATH": "/home/svad/armdev/beagle_board/sysroot"
+            }
+        },
+        {
+            "name": "BeagleBoneAI_Release",
+            "inherits": "BeagleBoneAI_Debug",
+            "displayName": "BeagleBoneAI Release",
+            "description": "Release build for BeagleBoneAI board(arm cortex-a15)",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Release"
+            }
+        }
+    ],
+    
+    "buildPresets": [
+        {
+            "name": "x86_64 Debug",
+            "configurePreset": "x86_64_Debug"
+        },
+        {
+            "name": "x86_64 Release",
+            "configurePreset": "x86_64_Release"
+        },
+        {
+            "name": "am571x-idk Debug",
+            "configurePreset": "am571x_idk_Debug"
+        },
+        {
+            "name": "am571x-idk Release",
+            "configurePreset": "am571x_idk_Release"
+        },
+        {
+            "name": "BeagleBoneAI Debug",
+            "configurePreset": "BeagleBoneAI_Debug"
+        },
+        {
+            "name": "BeagleBoneAI Release",
+            "configurePreset": "BeagleBoneAI_Release"
+        }
+    ]
+}

profinet_stack/osal/cmake/Linux.cmake

@@ -19,12 +19,12 @@ option (USE_SCHED_FIFO
   "Use SCHED_FIFO policy. May require extra privileges to run"
   OFF)
 
-target_sources(osal PRIVATE
+target_sources(${LIB_NAME} PRIVATE
   src/linux/osal.c
   src/linux/osal_log.c
   )
 
-target_compile_options(osal
+target_compile_options(${LIB_NAME}
   PRIVATE
   -Wall
   -Wextra
@@ -35,11 +35,11 @@ target_compile_options(osal
   $<$<CONFIG:Coverage>:--coverage>
   )
 
-target_include_directories(osal PUBLIC
+target_include_directories(${LIB_NAME} PUBLIC
   $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/src/linux>
   )
 
-target_link_libraries(osal PUBLIC
+target_link_libraries(${LIB_NAME} PUBLIC
   Threads::Threads
   rt
   INTERFACE
@@ -49,7 +49,7 @@ target_link_libraries(osal PUBLIC
 install(FILES
   src/linux/sys/osal_cc.h
   src/linux/sys/osal_sys.h
-  DESTINATION include/sys
+  DESTINATION ${INSTALL_PATH_INC}/sys
   )
 
 if (BUILD_TESTING)

profinet_stack/p-net/.gitignore

@@ -40,9 +40,6 @@ doc/_copied
 *.x86_64
 *.hex
 
-# Editor files
-.vscode/
-
 # Sampleapp dummy LED files
 pnet_led*.txt
 

profinet_stack/p-net/.vscode/settings.json

@@ -0,0 +1,70 @@
+{
+    "cmake.useCMakePresets": "always",
+    "files.associations": {
+        "typeinfo": "c",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "string": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "initializer_list": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "cinttypes": "cpp",
+        "cstring": "cpp",
+        "thread": "cpp",
+        "ctime": "cpp",
+        "chrono": "cpp",
+        "condition_variable": "cpp",
+        "map": "cpp",
+        "ratio": "cpp",
+        "mutex": "cpp",
+        "any": "cpp",
+        "codecvt": "cpp",
+        "forward_list": "cpp",
+        "list": "cpp",
+        "iomanip": "cpp",
+        "valarray": "cpp",
+        "bitset": "cpp",
+        "complex": "cpp",
+        "set": "cpp",
+        "typeindex": "cpp",
+        "variant": "cpp",
+        "cfenv": "cpp"
+    }
+}

profinet_stack/p-net/CMakeLists.txt

@@ -18,6 +18,19 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/tools")
 project (PROFINET VERSION 0.2.0)
 
+message("CMakeList.txt: Starting...")
+
+if (DEFINED BOARD)
+    if ( (NOT (${BOARD} STREQUAL "am5718-idk")) AND (NOT (${BOARD} STREQUAL "BeagleBoneAI")))
+        message(FATAL_ERROR "BOARD ${BOARD} unsupported!\n"
+                            "BOARD can take the following values:\n"
+                            " -- am5718-idk\n"
+                            " -- BeagleBoneAI")  
+    else()
+        message(STATUS "BOARD = " ${BOARD})
+    endif()
+endif()
+
 # Default settings if this is the main project
 if (CMAKE_PROJECT_NAME STREQUAL PROFINET)
   include(CTest)
@@ -43,7 +56,7 @@ if (CMAKE_PROJECT_NAME STREQUAL PROFINET)
   message(STATUS "Building for ${CMAKE_SYSTEM_NAME}")
 endif()
 
-include(AddOsal)
+#include(AddOsal)
 include(GenerateExportHeader)
 include(CMakeDependentOption)
 include(GetGitRevision)
@@ -165,35 +178,74 @@ configure_file (
   ${PROFINET_BINARY_DIR}/include/pnet_options.h
   )
 
+#------------------------------------------------------------------------
+# Ïóòü ê ïàïêå ñ áèáëèîòåêàìè
+set(INSTALL_PATH ${CMAKE_SOURCE_DIR}/../../libs)
+# Ïóòü êóäà áóäóò êîïèîðîâàòüñÿ ñîáðàííàÿ áèáëèîòåêà
+set(INSTALL_PATH_LIB ${INSTALL_PATH}/lib)
+
+#BOARD çàäàåòñÿ â ïàðàìåòðàõ çàïóñêà cmake, ïðîïèñàíî â .vscode/settings.json
+if (DEFINED BOARD)
+  set(SITARA_DEPOT ${CMAKE_SOURCE_DIR}/../../sitara_depot)
+  set(INSTALL_PATH_LIB ${INSTALL_PATH_LIB}/arm_a15/${BOARD})
+  include(${SITARA_DEPOT}/compile/sitara_compile_flags.cmake)
+  message(STATUS "Building for ${BOARD}")
+else()
+  set(INSTALL_PATH_LIB ${INSTALL_PATH_LIB}/x86_64)
+  message(STATUS "Building for x86")
+endif()
+
+# Ïóòü êóäà áóäóò êîïèðîâàòüñÿ h-ôàéëû
+set(INSTALL_PATH_INC ${INSTALL_PATH}/include)
+
+set(OSAL_NAME osal)
+
+if (CMAKE_BUILD_TYPE STREQUAL Debug)
+     set(OSAL_NAME ${OSAL_NAME}d)
+endif()
+
+#------------------------------------------------------------------------
+
+
 # Add platform-dependent targets early, so they can be configured by
 # platform
-add_library(profinet "")
+
-add_executable(pn_dev "")
+# Èìÿ áèáëèîòåêè
+set(LIB_NAME profinet)
+# Äëÿ îòëàäî÷íîé âåðñèè â êîíöå äîáàâëÿåì d: osald
+if (CMAKE_BUILD_TYPE STREQUAL Debug)
+     set(LIB_NAME ${LIB_NAME}d)
+endif()
+
+add_library(${LIB_NAME} "")
+
+#add_library(profinet "")
+#add_executable(pn_dev "")
 
 if (PNET_OPTION_DRIVER_ENABLE)
   include(${CMAKE_CURRENT_SOURCE_DIR}/src/drivers/drivers.cmake)
 endif ()
 
-if (CMAKE_PROJECT_NAME STREQUAL PROFINET AND BUILD_TESTING)
+#if (CMAKE_PROJECT_NAME STREQUAL PROFINET AND BUILD_TESTING)
-  add_executable(pf_test "")
+#  add_executable(pf_test "")
-endif()
+#endif()
 
 # Platform configuration
 include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/${CMAKE_SYSTEM_NAME}.cmake)
 
-generate_export_header(profinet
+generate_export_header(${LIB_NAME}
   BASE_NAME pnet
   EXPORT_FILE_NAME ${PROFINET_BINARY_DIR}/include/pnet_export.h
   )
 
-set_target_properties (profinet pn_dev
+set_target_properties (${LIB_NAME}
   PROPERTIES
   C_STANDARD 11
   )
 
-target_compile_features(profinet PUBLIC c_std_99)
+target_compile_features(${LIB_NAME} PUBLIC c_std_99)
 
-target_include_directories(profinet
+target_include_directories(${LIB_NAME}
   PUBLIC
   $<BUILD_INTERFACE:${PROFINET_SOURCE_DIR}/include>
   $<BUILD_INTERFACE:${PROFINET_BINARY_DIR}/include>
@@ -203,14 +255,19 @@ target_include_directories(profinet
   src
   src/common
   src/device
+  ${INSTALL_PATH_INC}
+  ${INSTALL_PATH_INC}/sys
+  ${INSTALL_PATH_INC}/x86_64
   )
 
-target_link_libraries(profinet PUBLIC osal)
+target_link_directories(${LIB_NAME} PRIVATE ${INSTALL_PATH_LIB})
+
+target_link_libraries(${LIB_NAME} PUBLIC ${OSAL_NAME})
 
 install (
-  TARGETS profinet
+  TARGETS ${LIB_NAME}
   EXPORT ProfinetConfig
-  DESTINATION lib
+  DESTINATION ${INSTALL_PATH_LIB}
   )
 
 install(
@@ -223,17 +280,17 @@ install (FILES
   ${PROFINET_BINARY_DIR}/include/pnet_export.h
   ${PROFINET_BINARY_DIR}/include/pnet_options.h
   ${PROFINET_BINARY_DIR}/include/pnet_version.h
-  DESTINATION include
+  DESTINATION ${INSTALL_PATH_INC}
   )
 
 add_subdirectory (src)
-add_subdirectory (samples/pn_dev)
+#add_subdirectory (samples/pn_dev)
 
-if (CMAKE_PROJECT_NAME STREQUAL PROFINET AND BUILD_TESTING)
+#if (CMAKE_PROJECT_NAME STREQUAL PROFINET AND BUILD_TESTING)
-  add_subdirectory (test)
+#  add_subdirectory (test)
-  include(AddGoogleTest)
+#  include(AddGoogleTest)
-  add_gtest(pf_test)
+#  add_gtest(pf_test)
-endif()
+#endif()
 
 # Doxygen configuration
 cmake_policy(SET CMP0057 NEW)

profinet_stack/p-net/CMakePresets.json

@@ -0,0 +1,110 @@
+{
+    "version": 3,
+    "configurePresets": [
+        {
+            "name": "default",
+            "displayName": "default",
+            "description": "Default build using Ninja generator",
+            "generator": "Ninja",
+            "binaryDir": "${sourceDir}/out/build/${presetName}",
+            "cacheVariables": {
+                "CMAKE_INSTALL_PREFIX": "${sourceDir}/out/install/${presetName}"
+            }
+        },
+        {
+            "name": "x86_64_Debug",
+            "inherits": "default",
+            "displayName": "x86_64 Debug",
+            "description": "Degub build for x86_64",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Debug",
+                "CMAKE_C_COMPILER": "gcc",
+                "CMAKE_CXX_COMPILER": "g++"
+            }
+        },
+        {
+            "name": "x86_64_Release",
+            "inherits": "x86_64_Debug",
+            "displayName": "x86_64 Release",
+            "description": "Release build for x86_64",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Release"
+            }
+        },
+        {
+            "name": "am571x_idk_Debug",
+            "inherits": "default",
+            "displayName": "am571x-idk Debug",
+            "description": "Degub build for AM571x-IDK board(arm cortex-a15)",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Debug",
+                "CMAKE_TOOLCHAIN_FILE": "${workspaceFolder}/../../sitara_depot/compile/toolchain.cmake",
+                "BOARD": "am5718-idk"
+            },
+            "environment": {
+                "ENV_TARGET_CROSS_COMPILE_PREFIX": "/home/svad/ti/ti-processor-sdk-linux-am57xx-evm-08_02_01_00/linux-devkit/sysroots/x86_64-arago-linux/usr/bin/arm-none-linux-gnueabihf-",
+                "ENV_TARGET_SYSTOOT_PATH": "/home/svad/ti/ti-processor-sdk-linux-am57xx-evm-08_02_01_00/linux-devkit/sysroots/armv7at2hf-neon-linux-gnueabi"
+            }
+        },
+        {
+            "name": "am571x_idk_Release",
+            "inherits": "am571x_idk_Debug",
+            "displayName": "am571x-idk Release",
+            "description": "Release build for AM571x-IDK board(arm cortex-a15)",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Release"
+            }
+        },
+        {
+            "name": "BeagleBoneAI_Debug",
+            "inherits": "default",
+            "displayName": "BeagleBoneAI Debug",
+            "description": "Degub build for BeagleBoneAI board(arm cortex-a15)",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Debug",
+                "CMAKE_TOOLCHAIN_FILE": "${workspaceFolder}/../../sitara_depot/compile/toolchain.cmake",
+                "BOARD": "BeagleBoneAI"
+            },
+            "environment": {
+                "ENV_TARGET_CROSS_COMPILE_PREFIX": "/home/svad/armdev/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin/arm-linux-gnueabihf-",
+                "ENV_TARGET_SYSTOOT_PATH": "/home/svad/armdev/beagle_board/sysroot"
+            }
+        },
+        {
+            "name": "BeagleBoneAI_Release",
+            "inherits": "BeagleBoneAI_Debug",
+            "displayName": "BeagleBoneAI Release",
+            "description": "Release build for BeagleBoneAI board(arm cortex-a15)",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Release"
+            }
+        }
+    ],
+    
+    "buildPresets": [
+        {
+            "name": "x86_64 Debug",
+            "configurePreset": "x86_64_Debug"
+        },
+        {
+            "name": "x86_64 Release",
+            "configurePreset": "x86_64_Release"
+        },
+        {
+            "name": "am571x-idk Debug",
+            "configurePreset": "am571x_idk_Debug"
+        },
+        {
+            "name": "am571x-idk Release",
+            "configurePreset": "am571x_idk_Release"
+        },
+        {
+            "name": "BeagleBoneAI Debug",
+            "configurePreset": "BeagleBoneAI_Debug"
+        },
+        {
+            "name": "BeagleBoneAI Release",
+            "configurePreset": "BeagleBoneAI_Release"
+        }
+    ]
+}

profinet_stack/p-net/cmake/Linux.cmake

@@ -18,12 +18,12 @@ if (PNET_OPTION_SNMP)
   find_package(NetSNMPAgent REQUIRED)
 endif()
 
-target_include_directories(profinet
+target_include_directories(${LIB_NAME}
   PRIVATE
   src/ports/linux
   )
 
-target_sources(profinet
+target_sources(${LIB_NAME}
   PRIVATE
   src/ports/linux/pnal.c
   src/ports/linux/pnal_eth.c
@@ -43,7 +43,7 @@ target_sources(profinet
   $<$<BOOL:${PNET_OPTION_SNMP}>:src/ports/linux/mib/lldpXPnoRemTable.c>
   )
 
-target_compile_options(profinet
+target_compile_options(${LIB_NAME}
   PRIVATE
   -Wall
   -Wextra
@@ -54,7 +54,7 @@ target_compile_options(profinet
   $<$<CONFIG:Coverage>:--coverage>
   )
 
-target_link_libraries(profinet
+target_link_libraries(${LIB_NAME}
   PUBLIC
   $<$<BOOL:${PNET_OPTION_SNMP}>:NetSNMP::NetSNMPAgent>
   $<$<BOOL:${PNET_OPTION_SNMP}>:NetSNMP::NetSNMP>
@@ -62,35 +62,35 @@ target_link_libraries(profinet
   $<$<CONFIG:Coverage>:--coverage>
   )
 
-target_include_directories(pn_dev
+#target_include_directories(pn_dev
-  PRIVATE
+#  PRIVATE
-  samples/pn_dev
+#  samples/pn_dev
-  src/ports/linux
+#  src/ports/linux
-  )
+#  )
 
-target_sources(pn_dev
+#target_sources(pn_dev
-  PRIVATE
+#  PRIVATE
-  samples/pn_dev/sampleapp_common.c
+#  samples/pn_dev/sampleapp_common.c
-  samples/pn_dev/app_utils.c
+#  samples/pn_dev/app_utils.c
-  samples/pn_dev/app_log.c
+#  samples/pn_dev/app_log.c
-  samples/pn_dev/app_gsdml.c
+#  samples/pn_dev/app_gsdml.c
-  samples/pn_dev/app_data.c
+#  samples/pn_dev/app_data.c
-  src/ports/linux/sampleapp_main.c
+#  src/ports/linux/sampleapp_main.c
-  )
+#  )
 
-target_compile_options(pn_dev
+#target_compile_options(pn_dev
-  PRIVATE
+#  PRIVATE
-  -Wall
+#  -Wall
-  -Wextra
+#  -Wextra
-  -Wno-unused-parameter
+#  -Wno-unused-parameter
-  -ffunction-sections
+#  -ffunction-sections
-  -fdata-sections
+#  -fdata-sections
-  )
+#  )
 
-target_link_options(pn_dev
+#target_link_options(pn_dev
-   PRIVATE
+#   PRIVATE
-   -Wl,--gc-sections
+#   -Wl,--gc-sections
-)
+#)
 
 install (FILES
   src/ports/linux/pnal_config.h
@@ -105,10 +105,10 @@ file(COPY
   ${PROFINET_BINARY_DIR}/
   )
 
-if (BUILD_TESTING)
+#if (BUILD_TESTING)
-  set(GOOGLE_TEST_INDIVIDUAL TRUE)
+#  set(GOOGLE_TEST_INDIVIDUAL TRUE)
-  target_include_directories(pf_test
+#  target_include_directories(pf_test
-    PRIVATE
+#    PRIVATE
-    src/ports/linux
+#    src/ports/linux
-    )
+#    )
-endif()
+#endif()

profinet_stack/p-net/src/CMakeLists.txt

@@ -16,7 +16,7 @@
 # NOTE: add headers to make them show up in an IDE
 # NOTE: Use full path for the <$<BOOL:${PNET_OPTION_SNMP}> expression
 #       to work with certain cmake versions
-target_sources (profinet PRIVATE
+target_sources (${LIB_NAME} PRIVATE
   ${PROFINET_SOURCE_DIR}/include/pnet_api.h
   pf_includes.h
   pf_types.h

profinet_test/sample_app_echo/CMakeLists.txt

@@ -2,7 +2,9 @@ cmake_minimum_required (VERSION 3.0)
 
 project (PN_ECHO_TEST VERSION 0.0.1)
 
-set(CMAKE_CXX_STANDARD 20)
+set(CMAKE_CXX_STANDARD 17)
+
+set(TARGET_NAME pn_echo_test)
 
 set(INC_DIRS ${INC_DIRS} ../../src/profinet)
 set(INC_DIRS ${INC_DIRS} ../../src/nlohmann_json)
@@ -19,8 +21,15 @@ set(SRC_FILES ${SRC_FILES} ./CreatePipes.cpp)
 set(SRC_FILES ${SRC_FILES} ../../src/file_api/file_api.cpp)
 set(SRC_FILES ${SRC_FILES} ./main.cpp)
 
-set(Boost_USE_STATIC_LIBS ON)
+set(SITARA_DEPOT ${CMAKE_SOURCE_DIR}/../../sitara_depot)
-set(Boost_USE_STATIC_RUNTIME ON)
+
+include(${SITARA_DEPOT}/compile/sitara_compile_flags.cmake)
+
+# óáèðàåò ïðåäóïðåæäåíèÿ nlohman json î GCC7.1
+add_compile_options(-Wno-psabi) 
+
+#set(Boost_USE_STATIC_LIBS ON)
+#set(Boost_USE_STATIC_RUNTIME ON)
 
 find_package(Boost 1.74.0)
 if(Boost_FOUND)
@@ -32,13 +41,21 @@ endif()
 message("Boost dir: " ${Boost_INCLUDE_DIRS})
 message("Boost libs:" ${Boost_LIBRARIES})
 
-#Копирование тестового файла конфигурации устройства Profinet
+add_executable(${TARGET_NAME} ./main.cpp ${SRC_FILES})
-file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/sample_app_echo_config.json
-     DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
 
-add_executable(pn_echo_test ./main.cpp ${SRC_FILES})
+target_include_directories(${TARGET_NAME} PRIVATE
-
-target_include_directories(pn_echo_test PRIVATE
   ./
   ${INC_DIRS}
 )
+
+target_link_libraries (${TARGET_NAME} PUBLIC ${Boost_LIBRARIES} pthread c rt)
+
+install(
+  TARGETS ${TARGET_NAME}
+  DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/bin
+)
+
+install(FILES
+  ${CMAKE_CURRENT_SOURCE_DIR}/sample_app_echo_config.json
+  DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/bin
+)

profinet_test/sample_app_echo/main.cpp

@@ -160,7 +160,7 @@ int main(int argc, char * argv[])
     {
         answer_str.clear();
 
-        std::this_thread::sleep_for(std::chrono::milliseconds(500));
+        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
         std::string request{j_get_flags.dump()};
         ///Запрос:
         *p_output_stream_ << request << std::endl;
@@ -409,13 +409,22 @@ int main(int argc, char * argv[])
                                 j_set_data["submodule_id"] = submodule_id;
                                 
                                 auto& data = j_set_data["data"]["I808InpBits"];
-
+                                static bool init = true;
+                                if (init)
+                                {
                                     for (int i = 0; i < 8; ++i)
                                     {
-                                    bits[i] = (~bits[i]) & 0x01;
+                                        //bits[i] = (~bits[i]) & 0x01;
                                         std::string bit_name = "in_bit_" + std::to_string(i);
-                                    data[bit_name] = bits[i];
+                                        data[bit_name] = value_bits[i];
                                     }
+                                    init = false;
+                                }
+                                else
+                                {
+                                    data["in_bit_1"] = 1;
+                                }
+
                                 j_set_echo_data["params"].push_back(j_set_data);
                             }
                             break;

profinet_test/sample_app_echo/sample_app_echo_config.json

@@ -1,7 +1,7 @@
 {
     "app_settings":
     {
-        "app_out_pipe_name": "/home/svad/Projects/profinet_io_dev/profinet_io_dev_inp",
+        "app_out_pipe_name": "/home/root/pnet/profinet_io_dev_inp",
-        "app_inp_pipe_name": "/home/svad/Projects/profinet_io_dev/profinet_io_dev_out"
+        "app_inp_pipe_name": "/home/root/pnet/profinet_io_dev_out"
     }
 }

sitara_depot

@@ -0,0 +1 @@
+Subproject commit beec7da14ed48a18e73812e4120a52f2fc057049

src/.vscode/launch.json

@@ -0,0 +1,76 @@
+{
+    "configurations": [
+        
+        {
+            "name": "pn_dev: start debug",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${workspaceFolder}/build/profinet_io_dev",
+            "args": [],
+            "stopAtEntry": true,
+            "cwd": "${workspaceFolder}",
+            /*"cwd": "${fileDirname}",*/
+            "environment": [],
+            "externalConsole": false,
+            "miDebuggerPath": "/home/svad/Projects/profinet_io_dev/debug_support/gdb",
+            "MIMode": "gdb",
+            "setupCommands": [
+                {
+                    "description": "Включить автоматическое форматирование для gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                },
+                /*{
+                    "description": "Enable break on all exceptions",
+                    "text": "catch throw",
+                    "ignoreFailures": true
+                },*/
+                {
+                    "description": "Задать для варианта приложения дизассемблирования значение Intel",
+                    "text": "-gdb-set disassembly-flavor intel",
+                    "ignoreFailures": true
+                },
+                /*{
+                    "text": "set target-async on"
+                }*/
+                
+            ]
+        },
+        {
+            // "processId": "${command:pickProcess}",
+            "name": "(gdb) Remote debug",
+            "type": "cppdbg",
+            "request": "launch",
+            "preLaunchTask": "PreDebug",
+            "program": "./build/profinet_io_dev",
+            "additionalSOLibSearchPath": "/home/svad/armdev/beagle_board/sysroot/lib",
+            // "processId": "${command:pickProcess}",
+            "MIMode": "gdb",
+            "cwd": "${workspaceFolder}",
+            "miDebuggerPath": "/usr/bin/gdb-multiarch",
+            "miDebuggerServerAddress": "192.168.6.2:2345",
+            "miDebuggerArgs": "",
+            "setupCommands": [
+                {
+                    "description": "Включить автоматическое форматирование для gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                },
+                /*{
+                    "description": "Enable break on all exceptions",
+                    "text": "catch throw",
+                    "ignoreFailures": true
+                },*/
+                {
+                    "description": "Задать для варианта приложения дизассемблирования значение Intel",
+                    "text": "-gdb-set disassembly-flavor intel",
+                    "ignoreFailures": true
+                },
+                /*{
+                    "text": "set target-async on"
+                }*/
+            ]
+        },
+    ],
+    "version": "2.0.0"
+}

src/.vscode/settings.json

@@ -0,0 +1,77 @@
+{
+    "cmake.useCMakePresets": "always",
+    "files.associations": {
+        "string_view": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "any": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "bitset": "cpp",
+        "chrono": "cpp",
+        "codecvt": "cpp",
+        "compare": "cpp",
+        "complex": "cpp",
+        "concepts": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "forward_list": "cpp",
+        "list": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "string": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "numbers": "cpp",
+        "ostream": "cpp",
+        "ranges": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "stop_token": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cinttypes": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "valarray": "cpp",
+        "variant": "cpp",
+        "semaphore": "cpp",
+        "filesystem": "cpp",
+        "shared_mutex": "cpp"
+    }
+}

src/CMakeLists.txt

@@ -1,8 +1,22 @@
 cmake_minimum_required (VERSION 3.0)
 
-project (PN_DEV_TEST VERSION 0.0.1)
+project (PROFINET_IO_DEV VERSION 0.0.1)
+
+message("CMakeList.txt: Starting...")
+
+if (DEFINED BOARD)
+    if ( (NOT (${BOARD} STREQUAL "am5718-idk")) AND (NOT (${BOARD} STREQUAL "BeagleBoneAI")))
+        message(FATAL_ERROR "BOARD ${BOARD} unsupported!\n"
+                            "BOARD can take the following values:\n"
+                            " -- am5718-idk\n"
+                            " -- BeagleBoneAI")  
+    else()
+        message(STATUS "BOARD = " ${BOARD})
+    endif()
+endif()
+
+set(CMAKE_CXX_STANDARD 17)
 
-set(CMAKE_CXX_STANDARD 20)
 set(LIBS_INSTALL_PATH ../libs)
 set(PNET_PATH ../profinet_stack/p-net)
 set(TARGET_NAME profinet_io_dev)
@@ -19,21 +33,16 @@ include (./user_data/user_data.cmake)
 
 set(SRC_FILES ${SRC_FILES} ./app.cpp)
 
-# Копирование заглушки скрипта установки параметров сети.
+set(SITARA_DEPOT ${CMAKE_SOURCE_DIR}/../sitara_depot)
-# Если не копировать, то в недрах pnet после fork вызовется exit и
-# вызовутся деструкторы объектов, что может привести к непредвиденным последствиям.
-file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/set_network_parameters
-     DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
 
-#Копирование файла конфигурации
+if(DEFINED BOARD)
-file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/program_configure.json
+  include(${SITARA_DEPOT}/compile/sitara_compile_flags.cmake)
-     DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
+endif()
 
-#Копирование тестового файла конфигурации устройства Profinet
+# óáèðàåò ïðåäóïðåæäåíèÿ nlohman json î GCC7.1
-file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/profinet_device_configure.json
+add_compile_options(-Wno-psabi) 
-     DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
 
-#Если не собирается с ошибкой линкера undefined reference pthread, то добавить флаг линкера:
+#Åñëè íå ñîáèðàåòñÿ ñ îøèáêîé ëèíêåðà undefined reference pthread, òî äîáàâèòü ôëàã ëèíêåðà:
 #add_link_options(-lrt) 
 add_executable(${TARGET_NAME} ./main.cpp ${SRC_FILES})
 
@@ -43,12 +52,54 @@ target_include_directories(${TARGET_NAME} PRIVATE
   ${LIBS_INSTALL_PATH}/include
   ${LIBS_INSTALL_PATH}/include/sys
   ${LIBS_INSTALL_PATH}/include/x86_64
-
 )
 
-target_link_directories(${TARGET_NAME} PUBLIC ${LIBS_INSTALL_PATH}/lib/x86_64)
+if (CMAKE_BUILD_TYPE STREQUAL Debug)
+     set(LIB_LIST profinetd osald ${Boost_LIBRARIES})
+elseif(CMAKE_BUILD_TYPE STREQUAL Release)
+     set(LIB_LIST profinet osal ${Boost_LIBRARIES})
+endif()
 
-#Если не собирается с ошибкой линкера undefined reference pthread, то после ${Boost_LIBRARIES} добавить pthread или -lpthread:
+# óáèðàåò ïðåäóïðåæäåíèÿ nlohman json î GCC7.1
+add_compile_options(-Wno-psabi) 
+
+set(LIB_ARCH_DIR x86_64)
+
+if(DEFINED BOARD)
+     set(LIB_ARCH_DIR arm_a15)
+endif()
+
+set(LINK_PATH ${LIBS_INSTALL_PATH}/lib/${LIB_ARCH_DIR})
+
+if (DEFINED BOARD)
+  set(LINK_PATH ${LINK_PATH}/${BOARD})
+endif()
+
+target_link_directories(${TARGET_NAME} PUBLIC ${LINK_PATH})
+
+#Åñëè íå ñîáèðàåòñÿ ñ îøèáêîé ëèíêåðà undefined reference pthread, òî ïîñëå ${Boost_LIBRARIES} äîáàâèòü pthread èëè -lpthread:
 #target_link_libraries (${TARGET_NAME} PUBLIC profinet osal ${Boost_LIBRARIES} pthread)
-target_link_libraries (${TARGET_NAME} PUBLIC profinetd osald ${Boost_LIBRARIES})
 
+# Äëÿ BeagleBoneAI: âåðñèÿ GCC8 íóæíî óêàçûâàòü stdc++fs(áèáëèîòåêà <filesystem>)
+if (CMAKE_COMPILER_IS_GNUCC AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 9)
+    set(LIB_LIST ${LIB_LIST} stdc++fs)
+endif()
+
+target_link_libraries (${TARGET_NAME} PUBLIC ${LIB_LIST} pthread c rt)
+
+install(
+  TARGETS ${TARGET_NAME}
+  DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/bin
+)
+
+install(FILES
+  # Êîïèðîâàíèå çàãëóøêè ñêðèïòà óñòàíîâêè ïàðàìåòðîâ ñåòè.
+  # Åñëè íå êîïèðîâàòü, òî â íåäðàõ pnet ïîñëå fork âûçîâåòñÿ exit è
+  # âûçîâóòñÿ äåñòðóêòîðû îáúåêòîâ, ÷òî ìîæåò ïðèâåñòè ê íåïðåäâèäåííûì ïîñëåäñòâèÿì.
+  ${CMAKE_CURRENT_SOURCE_DIR}/set_network_parameters
+  #Êîïèðîâàíèå ôàéëà êîíôèãóðàöèè
+  ${CMAKE_CURRENT_SOURCE_DIR}/program_configure.json
+  #Êîïèðîâàíèå òåñòîâîãî ôàéëà êîíôèãóðàöèè óñòðîéñòâà Profinet
+  ${CMAKE_CURRENT_SOURCE_DIR}/profinet_device_configure.json
+  DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/bin
+)

src/CMakePresets.json

@@ -0,0 +1,110 @@
+{
+    "version": 3,
+    "configurePresets": [
+        {
+            "name": "default",
+            "displayName": "default",
+            "description": "Default build using Ninja generator",
+            "generator": "Ninja",
+            "binaryDir": "${sourceDir}/out/build/${presetName}",
+            "cacheVariables": {
+                "CMAKE_INSTALL_PREFIX": "${sourceDir}/out/install/${presetName}"
+            }
+        },
+        {
+            "name": "x86_64_Debug",
+            "inherits": "default",
+            "displayName": "x86_64 Debug",
+            "description": "Degub build for x86_64",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Debug",
+                "CMAKE_C_COMPILER": "gcc",
+                "CMAKE_CXX_COMPILER": "g++"
+            }
+        },
+        {
+            "name": "x86_64_Release",
+            "inherits": "x86_64_Debug",
+            "displayName": "x86_64 Release",
+            "description": "Release build for x86_64",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Release"
+            }
+        },
+        {
+            "name": "am571x_idk_Debug",
+            "inherits": "default",
+            "displayName": "am571x-idk Debug",
+            "description": "Degub build for AM571x-IDK board(arm cortex-a15)",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Debug",
+                "CMAKE_TOOLCHAIN_FILE": "${workspaceFolder}/../sitara_depot/compile/toolchain.cmake",
+                "BOARD": "am5718-idk"
+            },
+            "environment": {
+                "ENV_TARGET_CROSS_COMPILE_PREFIX": "/home/svad/ti/ti-processor-sdk-linux-am57xx-evm-08_02_01_00/linux-devkit/sysroots/x86_64-arago-linux/usr/bin/arm-none-linux-gnueabihf-",
+                "ENV_TARGET_SYSTOOT_PATH": "/home/svad/ti/ti-processor-sdk-linux-am57xx-evm-08_02_01_00/linux-devkit/sysroots/armv7at2hf-neon-linux-gnueabi"
+            }
+        },
+        {
+            "name": "am571x_idk_Release",
+            "inherits": "am571x_idk_Debug",
+            "displayName": "am571x-idk Release",
+            "description": "Release build for AM571x-IDK board(arm cortex-a15)",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Release"
+            }
+        },
+        {
+            "name": "BeagleBoneAI_Debug",
+            "inherits": "default",
+            "displayName": "BeagleBoneAI Debug",
+            "description": "Degub build for BeagleBoneAI board(arm cortex-a15)",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Debug",
+                "CMAKE_TOOLCHAIN_FILE": "${workspaceFolder}/../sitara_depot/compile/toolchain.cmake",
+                "BOARD": "BeagleBoneAI"
+            },
+            "environment": {
+                "ENV_TARGET_CROSS_COMPILE_PREFIX": "/home/svad/armdev/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin/arm-linux-gnueabihf-",
+                "ENV_TARGET_SYSTOOT_PATH": "/home/svad/armdev/beagle_board/sysroot"
+            }
+        },
+        {
+            "name": "BeagleBoneAI_Release",
+            "inherits": "BeagleBoneAI_Debug",
+            "displayName": "BeagleBoneAI Release",
+            "description": "Release build for BeagleBoneAI board(arm cortex-a15)",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Release"
+            }
+        }
+    ],
+    
+    "buildPresets": [
+        {
+            "name": "x86_64 Debug",
+            "configurePreset": "x86_64_Debug"
+        },
+        {
+            "name": "x86_64 Release",
+            "configurePreset": "x86_64_Release"
+        },
+        {
+            "name": "am571x-idk Debug",
+            "configurePreset": "am571x_idk_Debug"
+        },
+        {
+            "name": "am571x-idk Release",
+            "configurePreset": "am571x_idk_Release"
+        },
+        {
+            "name": "BeagleBoneAI Debug",
+            "configurePreset": "BeagleBoneAI_Debug"
+        },
+        {
+            "name": "BeagleBoneAI Release",
+            "configurePreset": "BeagleBoneAI_Release"
+        }
+    ]
+}

src/app.cpp

@@ -8,7 +8,7 @@ bool App::Init(std::string profinet_config_file)
     ProfinetPipesSettings profinet_pipe_settings;
 
     /// Читаем настройки из файла
-    if (!programconf_getProfinetSettings("program_configure.json", profinet_settings, profinet_pipe_settings))
+    if (!programconf_getProfinetSettings(profinet_config_file, profinet_settings, profinet_pipe_settings))
     {
         return false;
     }

src/configuration/program_config.cpp

@@ -234,7 +234,7 @@ static bool programconf_getCyclycDataDir(json& j_cyclic_data, uint8_t& dir)
     return true;
 }
 
-static bool programconf_getCyclicDataSettings(const json& j_cyc_data, std::map<std::string, UserData>& user_data, uint16_t& cyc_data_len)
+static bool programconf_getCyclicDataSettings(const json& j_cyc_data, std::map<std::string, UserData>& user_data, uint16_t& cyc_data_len, bool swap)
 {
     uint16_t data_lengh = 0;
 
@@ -256,7 +256,7 @@ static bool programconf_getCyclicDataSettings(const json& j_cyc_data, std::map<s
         auto name = j.at("name").get<std::string>();
         auto Type = j.at("DataType").get<std::string>();
 
-        user_data.emplace(std::make_pair(std::string(name), UserData{name, Type, data_lengh}));
+        user_data.emplace(std::make_pair(std::string(name), UserData{name, Type, data_lengh, swap}));
 
         data_lengh+= user_data.at(name).size;
 
@@ -285,7 +285,7 @@ static bool programconf_getCyclicDataSettings(const json& j_cyc_data, std::map<s
 static bool programconf_getParamsSettings(const json& j_sett, 
                                           ProfinetData_Submodule& submod, 
                                           ProfinetSharedData& shared_data, 
-                                          std::map<std::uint32_t, UserData>& user_data)
+                                          std::map<std::uint32_t, UserData>& user_data, bool swap)
 {
     if (!j_sett.contains("parameters"))
         return false;
@@ -319,7 +319,7 @@ static bool programconf_getParamsSettings(const json& j_sett,
         param.index = static_cast<uint32_t>(parm_sett.at("index").get<int>());
         param.name = parm_sett.at("name").get<string>();
 
-        user_data.emplace(std::make_pair(param.index, UserData{param.name, data_type, 0}));
+        user_data.emplace(std::make_pair(param.index, UserData{param.name, data_type, 0, swap}));
    
         param.length = static_cast<uint16_t>(user_data.at(param.index).size);
    
@@ -378,6 +378,14 @@ static bool programconf_getProfinetModulesSettings(json& j, ProfinetData_Map * p
 
     uint32_t module_index = 0;
 
+    /// Необходимость изменять порядок байт в датаграмме(мастер - bigendian)
+    bool swap = true;
+    if (j.contains("SwapData"))
+    {
+        swap = j.at("SwapData").get<bool>();
+    }
+    
+
     for (auto& mod_set : modules_sett)
     {
         uint32_t mod_id = hexstring_to_int(mod_set["id"].get<string>());
@@ -434,7 +442,7 @@ static bool programconf_getProfinetModulesSettings(json& j, ProfinetData_Map * p
             if (j_cycdata_sett.contains("Inputs"))
             {
                 /// Конструируем поля пользовательских данных в датаграмме циклических данных
-                if (!programconf_getCyclicDataSettings(j_cycdata_sett.at("Inputs"), submod_user_data.inp_data_map, submod.cyc_indata_len))
+                if (!programconf_getCyclicDataSettings(j_cycdata_sett.at("Inputs"), submod_user_data.inp_data_map, submod.cyc_indata_len, swap))
                 {
                     return false;
                 }
@@ -447,7 +455,7 @@ static bool programconf_getProfinetModulesSettings(json& j, ProfinetData_Map * p
 
             if (j_cycdata_sett.contains("Outputs"))
             {
-                if (!programconf_getCyclicDataSettings(j_cycdata_sett.at("Outputs"), submod_user_data.out_data_map, submod.cyc_outdata_len))
+                if (!programconf_getCyclicDataSettings(j_cycdata_sett.at("Outputs"), submod_user_data.out_data_map, submod.cyc_outdata_len, swap))
                 {
                     return false;
                 }
@@ -481,7 +489,7 @@ static bool programconf_getProfinetModulesSettings(json& j, ProfinetData_Map * p
             }
 
             /// Читаем конфигурацию параметров
-            programconf_getParamsSettings(submod_sett, submod, shared_data, submod_user_data.params_map);
+            programconf_getParamsSettings(submod_sett, submod, shared_data, submod_user_data.params_map, swap);
         }
     }
 

src/copy_snmp.sh

@@ -0,0 +1,81 @@
+#!/bin/sh
+COPY_SCRIPT=/home/svad/Projects/pipe_msgq_translator/host_scripts/copy.sh
+FS_PATH=/home/svad/ti/ti-processor-sdk-linux-am57xx-evm-08_02_01_00/targetNFS
+
+$COPY_SCRIPT "-r ${FS_PATH}/etc/snmp" /etc
+$COPY_SCRIPT "-r ${FS_PATH}/usr/share/snmp" /usr/share
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmptop /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmpinform /usr/bin
+$COPY_SCRIPT ${FS_PATH}/etc/rc0.d/K60snmpd /etc/rc0.d
+$COPY_SCRIPT ${FS_PATH}/etc/rc1.d/K60snmpd /etc/rc1.d
+$COPY_SCRIPT ${FS_PATH}/etc/rc2.d/S90snmpd /etc/rc2.d
+$COPY_SCRIPT ${FS_PATH}/etc/rc3.d/S90snmpd /etc/rc3.d
+$COPY_SCRIPT ${FS_PATH}/etc/rc4.d/S90snmpd /etc/rc4.d
+$COPY_SCRIPT ${FS_PATH}/etc/rc5.d/S90snmpd /etc/rc5.d
+$COPY_SCRIPT ${FS_PATH}/etc/rc6.d/K60snmpd /etc/rc6.d
+$COPY_SCRIPT ${FS_PATH}/usr/lib/libnetsnmp.so.35 /usr/lib
+$COPY_SCRIPT ${FS_PATH}/usr/lib/libnetsnmpmibs.so.35 /usr/lib
+$COPY_SCRIPT ${FS_PATH}/usr/lib/libnetsnmpagent.so.35 /usr/lib
+$COPY_SCRIPT ${FS_PATH}/usr/lib/libnetsnmphelpers.so.35 /usr/lib
+$COPY_SCRIPT ${FS_PATH}/etc/init.d/snmpd /etc/init.d
+$COPY_SCRIPT ${FS_PATH}/usr/sbin/snmpd /usr/sbin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmpdf /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmpps /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmpget /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmpset /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmpusm /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmpconf /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmpping /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmptest /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmptrap /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmpvacm /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmpwalk /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmpcheck /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmpdelta /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmptable /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmpstatus /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmpbulkget /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmpgetnext /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmpnetstat /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmpbulkwalk /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmptranslate /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/snmp-bridge-mib /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/bin/net-snmp-cert /usr/bin
+$COPY_SCRIPT ${FS_PATH}/usr/lib/libnetsnmp.so.35.0.0 /usr/lib
+$COPY_SCRIPT ${FS_PATH}/usr/lib/libnetsnmpmibs.so.35.0.0 /usr/lib
+$COPY_SCRIPT ${FS_PATH}/usr/lib/libnetsnmpagent.so.35.0.0 /usr/lib
+$COPY_SCRIPT ${FS_PATH}/usr/lib/libnetsnmphelpers.so.35.0.0 /usr/lib
+$COPY_SCRIPT ${FS_PATH}/usr/include/linux/snmp.h /usr/include/linux
+$COPY_SCRIPT ${FS_PATH}/lib/systemd/system/snmpd.service /lib/systemd/system
+$COPY_SCRIPT ${FS_PATH}/lib/systemd/system-preset/98-net-snmp-server-snmpd.preset /lib/systemd/system-preset
+$COPY_SCRIPT ${FS_PATH}/etc/systemd/system/multi-user.target.wants/snmpd.service /etc/systemd/system/multi-user.target.wants
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/net-snmp.list /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/net-snmp.control /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/net-snmp-libs.list /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/net-snmp-mibs.list /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/net-snmp-client.list /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/net-snmp-libs.control /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/net-snmp-mibs.control /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/net-snmp-client.control /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/net-snmp-server-snmpd.list /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/net-snmp-server-snmpd.prerm /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/net-snmp-server-snmpd.postrm /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/net-snmp-server-snmpd.control /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/net-snmp-server-snmpd.postinst /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/net-snmp-server-snmpd.conffiles /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/libnetsnmp35.list /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/libnetsnmp35.control /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/libnetsnmp35.postinst /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/libnetsnmpmibs35.list /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/libnetsnmpagent35.list /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/libnetsnmphelpers35.list /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/libnetsnmpmibs35.control /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/libnetsnmpagent35.control /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/libnetsnmphelpers35.control /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/libnetsnmpmibs35.postinst /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/libnetsnmpagent35.postinst /var/lib/opkg/info
+$COPY_SCRIPT ${FS_PATH}/var/lib/opkg/info/libnetsnmphelpers35.postinst /var/lib/opkg/info
+
+
+
+

src/interprocess/interprocess.cmake

@@ -1,12 +1,13 @@
-find_package(Boost 1.74.0)
+find_package(Boost 1.67.0)
+
 if(Boost_FOUND)
     set(INC_DIRS ${INC_DIRS} ${Boost_INCLUDE_DIRS})
 else()
-    message(BOOST NOT FOUND)
+    message(FATAL_ERROR "interprocess.cmake: BOOST not found")
 endif()
 
-message("Boost dir: " ${Boost_INCLUDE_DIRS})
+message(STATUS "Boost dir: " ${Boost_INCLUDE_DIRS})
-message("Boost libs:" ${Boost_LIBRARIES})
+message(STATUS "Boost libs:" ${Boost_LIBRARIES})
 
 include(./interprocess/shared_memory/shared_memory.cmake)
 include(./interprocess/pipes/pipes.cmake)

src/profinet/profinet.cmake

@@ -1,5 +1,5 @@
 if (CMAKE_BUILD_TYPE STREQUAL "Debug")
-    message("log enable")
+    message(STATUS "profinet log enable")
     add_definitions(-DLOG_ENABLE)
 endif()
 

src/profinet/profinet.cpp

@@ -663,9 +663,12 @@ int Profinet::getOutputCyclicData(uint32_t module_id,
                                   uint32_t submodule_id, 
                                   std::vector<uint8_t>& data)
 {
-    if (!m_modules.contains(module_id))
+    if (m_modules.find(module_id) == m_modules.end())
         return ErrorCode::ERR_MODULE_DOES_NOT_EXIST;
     
+    /*if (!m_modules.contains(module_id))
+        return ErrorCode::ERR_MODULE_DOES_NOT_EXIST;*/
+    
     auto submodule = m_modules[module_id]->getSubmodulePtr(submodule_id);
     
     if (submodule == nullptr)
@@ -680,8 +683,10 @@ int Profinet::putInputCyclicData(uint32_t module_id,
                                  uint32_t submodule_id, 
                                  std::vector<uint8_t>& data)
 {
-    if (!m_modules.contains(module_id))
+    if (m_modules.find(module_id) == m_modules.end())
         return ErrorCode::ERR_MODULE_DOES_NOT_EXIST;
+    /*if (!m_modules.contains(module_id))
+        return ErrorCode::ERR_MODULE_DOES_NOT_EXIST;*/
     
     auto submodule = m_modules[module_id]->getSubmodulePtr(submodule_id);
     
@@ -703,9 +708,12 @@ int Profinet::getSubmoduleParam(uint32_t module_id,
                                   uint32_t param_id, 
                                   std::vector<uint8_t>& data)
 {
-    if (!m_modules.contains(module_id))
+    if (m_modules.find(module_id) == m_modules.end())
         return ErrorCode::ERR_MODULE_DOES_NOT_EXIST;
         
+    /*if (!m_modules.contains(module_id))
+        return ErrorCode::ERR_MODULE_DOES_NOT_EXIST;*/
+    
     auto submodule = m_modules[module_id]->getSubmodulePtr(submodule_id);
     
     if (submodule == nullptr)
@@ -738,8 +746,10 @@ Profinet::~Profinet()
 
 int Profinet::getSubmoduleCyclicInpDataLen(uint32_t module_id, uint32_t submodule_id) const
 {
-    if (!m_modules.contains(module_id))
+    if (m_modules.find(module_id) == m_modules.end())
         return ErrorCode::ERR_MODULE_DOES_NOT_EXIST;
+    /*if (!m_modules.contains(module_id))
+        return ErrorCode::ERR_MODULE_DOES_NOT_EXIST;*/
     
     auto submodule = m_modules.at(module_id)->getSubmodulePtr(submodule_id);
     
@@ -751,8 +761,10 @@ int Profinet::getSubmoduleCyclicInpDataLen(uint32_t module_id, uint32_t submodul
 
 int Profinet::getSubmoduleCyclicOutDataLen(uint32_t module_id, uint32_t submodule_id) const
 {
-    if (!m_modules.contains(module_id))
+    if (m_modules.find(module_id) == m_modules.end())
         return ErrorCode::ERR_MODULE_DOES_NOT_EXIST;
+    /*if (!m_modules.contains(module_id))
+        return ErrorCode::ERR_MODULE_DOES_NOT_EXIST;*/
     
     auto submodule = m_modules.at(module_id)->getSubmodulePtr(submodule_id);
     

src/profinet_device_configure.json

@@ -1,4 +1,5 @@
 {
+    "SwapData": false,
     "ProfinetDeviceSettings":
     {
         "product_name": "P-Net Sample Application",

src/program_configure.json

@@ -3,10 +3,10 @@
   {
     "ticks_us": 1000,
     "cyclic_ms": 100,
-    "eth_dev_name": "enp6s1",
+    "eth_dev_name": "eth0",
     "profinet_device_config": "profinet_device_configure.json",
     "enable_pipes": true,
-    "out_pipe_name": "/home/svad/Projects/profinet_io_dev/profinet_io_dev_out",
+    "out_pipe_name": "/home/root/pnet/profinet_io_dev_out",
-    "inp_pipe_name": "/home/svad/Projects/profinet_io_dev/profinet_io_dev_inp"
+    "inp_pipe_name": "/home/root/pnet/profinet_io_dev_inp"
   }
 }

src/user_data/user_data.cpp

@@ -1,5 +1,4 @@
 #include "user_data.hpp"
-#include <bit>
 #include "../endian/endian.hpp"
 #include <iostream>
 
@@ -255,7 +254,10 @@ void UserData::extractData(std::vector<uint8_t>& vect)
     std::copy(&data_.uint8[0], &data_.uint8[size], buf);
     /// Данные в профинет передаются в формате BigEndian
     /// преобразуем из Little в Big
+    if (swap_)
+    {
         endian_swapbytes(&buf[0], size);
+    }
     /// Вставляем данные в вектор по офсету
     std::copy(buf, &buf[size], vect.begin() + data_offset_);
 }
@@ -266,7 +268,7 @@ void UserData::insertData(const std::vector<uint8_t>& vect)
     std::copy(&vect[data_offset_], &vect[data_offset_ + size], data_.uint8);
     /// Конвертим
     if ((type >= UserDataTypes::UINT16) &&
-        (type <= UserDataTypes::FLOAT64))
+        (type <= UserDataTypes::FLOAT64) && swap_)
     {
         /// Данные в профинет передаются в формате BigEndian
         /// преобразуем из Big в Little
@@ -296,8 +298,11 @@ SubmoduleUserData& UserData_getSubmod(uint32_t mod_id, uint32_t submod_id, UserD
 
 int UserData::getDataSize(const std::string& type_name)
 {
-    if (!data_corr.contains(type_name))
+    if (data_corr.find(type_name) == data_corr.end())
         return 0;
         
+    /*if (!data_corr.contains(type_name))
+        return 0;*/
+    
     return data_size.at(data_corr.at(type_name)); 
 }

src/user_data/user_data.hpp

@@ -36,11 +36,12 @@ public:
         FLOAT64,
     };
 
-    UserData(std::string& Name, std::string& DataType, uint16_t offset) : 
+    UserData(std::string& Name, std::string& DataType, uint16_t offset, bool swap) : 
         name{Name},
         type{data_corr.at(DataType)},
         size{data_size.at(type)},
-        data_offset_{offset}
+        data_offset_{offset},
+        swap_{swap}
     {
         data_.uint64 = 0;
     };
@@ -115,6 +116,7 @@ private:
     AnyData                  data_;           /// Данные
     std::vector<UserDataBit> bits_;           /// 
     const uint16_t           data_offset_;    /// Офсет от начала датаграммы откуда начинаются данные
+    const bool               swap_;           /// Перобразование порядка байт
 };
 
 struct SubmoduleUserData