v0.1.0

Date: 2026-10-29
Previous release: none

Summary

First release of canopenctl, a command-line toolkit for CANopen networks
built on go-canopen and go-canbus v0.7.0: monitor and decode traffic, SDO,
NMT, heartbeat, EMCY, SYNC, TIME, PDOs, EDS/DCF files, CiA 402 drives and
simulated nodes, on SocketCAN, serial-line CAN adapters and an in-process
virtual bus.

Additions

• monitor decodes live traffic as CANopen messages (NMT, SYNC, TIME,
  EMCY with the meaning of its code, PDOs, SDO with segmented and block
  transfers attributed to their object, heartbeat, boot-up, node guarding,
  LSS), filtered by --node and --service; decode does the same for
  trace files (candump, JSON Lines, pcap, pcapng, ASC, BLF, TRC).
• sdo read, sdo write, sdo dump: expedited, segmented and block
  transfer, data types from --type or --eds, files for DOMAIN objects,
  --verify; an abort code is reported with its meaning and as exit code
  11 (JSON: the error's abort object).
• nmt to one node or all, with --wait for the heartbeat or boot-up
  that confirms it; heartbeat watch (boot-ups, state changes,
  timeouts); scan (device type, profile and identity of nodes 1..127).
• emcy watch, sync (period, count, counter) and time.
• pdo show, pdo map (CiA 301 configuration sequence, checked
  against --eds) and pdo watch (decoded values; passive with
  --cob-id/--map).
• eds validate, eds show, eds convert (EDS ↔ DCF with the
  node-ID), eds generate (typed Go code), dcf apply (with
  --dry-run) and dcf export (a node's values into a DCF).
• cia402 state, enable, disable, fault-reset, quick-stop,
  mode, move, velocity: a drive operated through its statusword,
  each step verified; a drive fault is exit 12 with the drive's state.
• simulate: a complete go-canopen node from an EDS or DCF (or a
  built-in device), optionally a CiA 402 drive, with ticking objects and an
  emergency on request, for demos and tests.
• Safety: every state-changing command needs --yes on an interface
  that is not virtual; passive commands open slcan adapters listen-only;
  productions are bounded.
• --format text|table|json with JSON Schemas (schemas/), JSON Lines
  streams, stable exit codes (docs/exitcodes.md).

Verification

• In-process tests of every command against go-canopen nodes (CiA 401 I/O
  module, built-in device, CiA 402 drive) on the virtual bus, with the race
  detector; golden JSON validated against the schemas; ≥ 90 % coverage.
• End to end on vcan0 (Linux 7.0): simulated node and drive processes
  operated by canopenctl processes.
• Interop on vcan0 against CANopenNode v4.1, Lely CANopen 2.3.5 and python
  canopen 2.4.1 (canopen-interop): canopenctl against their devices, their
  clients against canopenctl simulate, their EDS checkers against
  eds validate.