go-canopen v0.5.0, go-canbus v0.9.0: guard answers and configured PDOs in monitor/decode

LIMITATIONS.md

@@ -17,8 +17,11 @@
   are opened without a data phase bit rate. `monitor` and `decode` skip
   error frames (counted in `frames`).
 - **Predefined connection set.** `monitor` and `decode` interpret frames by
-  their default identifiers (as Wireshark does); a device that moved a PDO or
-  SDO channel elsewhere is decoded by the identifier's default meaning. The
+  their default identifiers (as Wireshark does), except PDO COB-IDs they see
+  set or read over SDO (0x1400..0x15FF and 0x1800..0x19FF sub-index 1,
+  expedited): frames on those decode as that node's PDO (`"configured":
+  true`). A PDO moved before the trace starts, or an SDO channel moved
+  elsewhere, is decoded by the identifier's default meaning. The
   SDO commands use the default SDO channel (0x600/0x580 + node-ID); other
   channels (0x1200 sub 1/2, 0x1280..) are not selectable.
 - **LSS** (`lss`) acts on one network with one LSS master: canopenctl does not

RELEASE.md

@@ -6,6 +6,46 @@ with the version bump). It computes the tag, builds the binaries for linux
 publishes the GitHub release with the section of this file that matches the
 version as its notes. Add the section before running it.
 
+## v0.7.0
+
+**Date:** 2026-11-08
+**Previous release:** v0.6.1
+
+### Summary
+
+go-canopen v0.5.0 and go-canbus v0.9.0. go-canopen is now tested against
+recorded traffic of real Copley Controls drives; two of the decoder fixes
+it brought show in `monitor` and `decode`.
+
+### Fixed
+
+- `monitor`, `decode`: a node guarding answer with the toggle bit clear
+  (`701#05` after `701#R`) was shown as a heartbeat; it is now a
+  `guard-response`, as the answers with the toggle bit set already were
+  (go-canopen's `dissect.Tracker`). **JSON**: such frames change `kind`
+  from `heartbeat` to `guard-response`; `--service heartbeat` shows both
+  as before.
+
+### Added
+
+- `monitor`, `decode`: PDOs on COB-IDs set or read over SDO earlier in the
+  trace are decoded as that node's PDO, with `"configured": true` in the
+  `pdo` object (record schema updated). A recorded Copley drive sends its
+  TPDO5 on 0x180, which was `unknown`.
+
+### Dependencies
+
+- go-canopen v0.5.0 (from v0.4.1), go-canbus v0.9.0 (from v0.8.0). canopenctl
+  only reads traces; go-canbus's writer and ISO-TP fixes do not change its
+  behaviour.
+
+### Tests
+
+- `decode` of frames recorded from a Copley drive (go-canopen's
+  testdata/captures): both guard answers, the learned TPDO5.
+
+---
+
 ## v0.6.1
 
 **Date:** 2026-11-08

cmd/monitor_test.go

@@ -103,3 +103,31 @@ func TestDecode(t *testing.T) {
 	want(t, run(t, "", "decode", bad), 3, "")
 	want(t, run(t, "", "decode", path, "--service", "x"), 3, "unknown service")
 }
+
+// copleyTrace holds frames recorded from a Copley Controls drive (go-canopen
+// testdata/captures/copley/unknown_copley-1100_absolute-move.log, lines
+// 426-427, 449-460 and 466-468), written as a candump log: node guarding
+// answers with both toggle values, the TPDO5 COB-ID set to 0x180 over SDO,
+// and a TPDO5 frame (the drive's microsecond time stamp 0x1013).
+const copleyTrace = `(3383.105884) can0 701#R
+(3383.105958) can0 701#85
+(3383.338300) can0 701#R
+(3383.338350) can0 701#05
+(3383.132009) can0 601#2304180180010000
+(3383.132223) can0 581#6004180100000000
+(3383.213675) can0 180#B71FE879
+`
+
+// TestDecodeRecordedCopley: decode labels both guard answers as guard
+// responses (the one with the toggle bit clear was a heartbeat before
+// go-canopen v0.5.0) and the frame on 0x180 as the drive's TPDO5, learned
+// from the SDO transfer ("configured").
+func TestDecodeRecordedCopley(t *testing.T) {
+	fresh(t)
+	r := run(t, copleyTrace, "decode", "-", "--format", "json")
+	want(t, r, 0, `"kind":"guard-response"`, `"summary":"TPDO5 node 1: B7 1F E8 79"`, `"configured":true`)
+	if strings.Contains(r.out, `"kind":"heartbeat"`) || strings.Count(r.out, `"kind":"guard-response"`) != 2 {
+		t.Fatalf("guard answers: %s", r.out)
+	}
+	want(t, run(t, copleyTrace, "decode", "-", "--service", "tpdo"), 0, "TPDO5 node 1", "1 shown")
+}

docs/json-output.md

@@ -87,7 +87,7 @@ Streaming commands write JSON Lines: one compact object per line with
 
 | Command | `type` | Fields |
 |---------|--------|--------|
-| `monitor`, `decode` | `message` | the frame (`timestamp`, `interface`, `id`, `idHex`, `extended`, `remote`, `len` (up to 64), `fd` and `brs` (CAN FD), `data`), `kind` (`nmt`, `sync`, `time`, `emcy`, `tpdo`, `rpdo`, `sdo-request`, `sdo-response`, `usdo-request`, `usdo-response`, `heartbeat`, `boot-up`, `guard-request`, `guard-response`, `lss-master`, `lss-slave`, `unknown`), `node` (for a USDO message its sender), `summary` (one line), `error` (malformed), and one object for the service: `nmt`, `sync`, `timeStamp`, `emcy` (`code`, `codeText`, `register`, `registerNames`, `msef`, `reset`, and `fd` for a CANopen FD emergency: `logicalDevice`, `ciaSpec`, `status`, `ms`, `days`, `time`), `pdo`, `sdo` (command, phase, object, data, abort code and text, block transfer fields; segments carry the object of their transfer), `usdo` (`client`, `dest`, `destination`, `cs`, `command`, `session`, `index`, `subIndex`, `hasIndex`, `dataType`, `size`, `counter`, `tProc`, `abortCode`, `abortText`, `data`), `errorControl`, `lss` |
+| `monitor`, `decode` | `message` | the frame (`timestamp`, `interface`, `id`, `idHex`, `extended`, `remote`, `len` (up to 64), `fd` and `brs` (CAN FD), `data`), `kind` (`nmt`, `sync`, `time`, `emcy`, `tpdo`, `rpdo`, `sdo-request`, `sdo-response`, `usdo-request`, `usdo-response`, `heartbeat`, `boot-up`, `guard-request`, `guard-response`, `lss-master`, `lss-slave`, `unknown`), `node` (for a USDO message its sender), `summary` (one line), `error` (malformed), and one object for the service: `nmt`, `sync`, `timeStamp`, `emcy` (`code`, `codeText`, `register`, `registerNames`, `msef`, `reset`, and `fd` for a CANopen FD emergency: `logicalDevice`, `ciaSpec`, `status`, `ms`, `days`, `time`), `pdo`, `sdo` (command, phase, object, data, abort code and text, block transfer fields; segments carry the object of their transfer), `usdo` (`client`, `dest`, `destination`, `cs`, `command`, `session`, `index`, `subIndex`, `hasIndex`, `dataType`, `size`, `counter`, `tProc`, `abortCode`, `abortText`, `data`), `errorControl`, `lss`. `pdo` is `number`, `transmit` and `configured` (true when the PDO was identified by a COB-ID set or read over SDO earlier in the trace, not by the predefined connection set). A node guarding answer that follows a request is `guard-response` whatever its toggle bit |
 | | `summary` | `frames`, `shown`, `malformed`, `dropped`, `kinds` (count per kind) |
 | `heartbeat watch` | `heartbeat` | `timestamp`, `node`, `event` (`boot-up`, `state-change`, `timeout`, `resumed`), `state`, `previous` |
 | | `summary` | `events`, `timeouts`, `bootUps`, `nodes` (`node`, `state`, `bootUps`, `lost`, `lastSeen`, `timeoutMs`) |

go.mod

@@ -3,8 +3,8 @@ module github.com/otfabric/canopenctl
 go 1.26.0
 
 require (
-	github.com/otfabric/go-canbus v0.8.0
-	github.com/otfabric/go-canopen v0.4.1
+	github.com/otfabric/go-canbus v0.9.0
+	github.com/otfabric/go-canopen v0.5.0
 	github.com/santhosh-tekuri/jsonschema/v6 v6.0.2
 	github.com/spf13/cobra v1.10.2
 	github.com/spf13/pflag v1.0.10

go.sum

@@ -3,10 +3,10 @@ github.com/dlclark/regexp2 v1.11.0 h1:G/nrcoOa7ZXlpoa/91N3X7mM3r8eIlMBBJZvsz/mxK
 github.com/dlclark/regexp2 v1.11.0/go.mod h1:DHkYz0B9wPfa6wondMfaivmHpzrQ3v9q8cnmRbL6yW8=
 github.com/inconshreveable/mousetrap v1.1.0 h1:wN+x4NVGpMsO7ErUn/mUI3vEoE6Jt13X2s0bqwp9tc8=
 github.com/inconshreveable/mousetrap v1.1.0/go.mod h1:vpF70FUmC8bwa3OWnCshd2FqLfsEA9PFc4w1p2J65bw=
-github.com/otfabric/go-canbus v0.8.0 h1:z0etLlCxHqyQf17MB4/joDrVisNj+gzh1Zxih00xRZc=
-github.com/otfabric/go-canbus v0.8.0/go.mod h1:/+y8PRSu7tTGdoh2f7NTxaRAML86ePZSXLfjehaFDgc=
-github.com/otfabric/go-canopen v0.4.1 h1:SG9cJCQjCD7ZReE00EpTA5irfu2ueB8kH8HfnZIHm9c=
-github.com/otfabric/go-canopen v0.4.1/go.mod h1:mnQwOvdhOfyB10pK1JkiUQdS7jnv58Urbt7ly6eFsDE=
+github.com/otfabric/go-canbus v0.9.0 h1:DzRDY3eLzNAFxcqrnls1x2k7TFHDQzxOkQsUCT3N/xc=
+github.com/otfabric/go-canbus v0.9.0/go.mod h1:/+y8PRSu7tTGdoh2f7NTxaRAML86ePZSXLfjehaFDgc=
+github.com/otfabric/go-canopen v0.5.0 h1:bQJearjMs7yL6lKQgMXHZJd6r2RtTijJr8JWT6J8Ak4=
+github.com/otfabric/go-canopen v0.5.0/go.mod h1:kIC0XAM59pii2korvrptJ0O9ucIQSvGimAzQx64eDd4=
 github.com/otfabric/go-serial v0.2.1 h1:PCOdnCDAHIHFaxTBNmisC/4SlD+NVd74d+EJPnXrCOw=
 github.com/otfabric/go-serial v0.2.1/go.mod h1:TqbYpWWg6W+IuCLs8YM2cndlMAEaTyaKyUX6Z08gtq8=
 github.com/russross/blackfriday/v2 v2.1.0/go.mod h1:+Rmxgy9KzJVeS9/2gXHxylqXiyQDYRxCVz55jmeOWTM=

schemas/record-v1.schema.json

@@ -54,7 +54,7 @@
           "sync": {"type": "object", "required": ["hasCounter"]},
           "timeStamp": {"type": "object", "required": ["ms", "days", "time"]},
           "emcy": {"$ref": "#/$defs/emcy"},
-          "pdo": {"type": "object", "required": ["number", "transmit"]},
+          "pdo": {"type": "object", "required": ["number", "transmit"], "properties": {"number": {"type": "integer", "minimum": 1, "maximum": 512}, "transmit": {"type": "boolean"}, "configured": {"type": "boolean"}}},
           "sdo": {"type": "object", "required": ["client", "cs", "command", "phase", "index", "subIndex", "hasIndex"],
             "properties": {"phase": {"enum": ["initiate", "segment", "block", "sub-block", "end", "abort", "unknown"]}}},
           "usdo": {"type": "object", "required": ["client", "dest", "destination", "cs", "command", "session", "index", "subIndex", "hasIndex"]},