🚀 gocanopen

A robust, efficient, and pure Golang implementation of the CANopen protocol (CiA 301).

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gocanopen is designed to be a simple to use library for building CANopen Masters and Slaves in Go.

✨ Features

CiA 301

• NMT (Network Management): Full Master/Slave state machine support.
• SDO (Service Data Object):
  • Server & Client
  • Block Transfer & Segmented Transfer
• PDO (Process Data Object):
  • Dynamic Mapping & Communication parameters
  • Synchronous & Asynchronous transmission (TPDO/RPDO)
• Heartbeat: Producer & consumer monitoring
• SYNC: Producer & Consumer
• TIME: Time stamp object support
• EMCY: Emergency object producer & consumer
• LSS: Ongoing work

CiA 309

• HTTP Gateway: Experimental support for CiA 309 web interfacing.

Advanced Capabilities

• Dynamic EDS Parsing: Load .eds files at runtime to configure nodes instantly.
• No CGO Required: Pure Go implementation for maximum portability.
• Extensible Bus Interface: Plug-and-play support for different CAN interfaces.

📦 Supported Hardware / Transceivers

| Driver | Description | | :--- | :--- | | SocketCAN | Standard Linux CAN interface. Native Go support. | | VirtualCAN | TCP/IP based virtual bus, great for testing/CI. | | Kvaser | Uses Kvaser canlib drivers (necessary for windows support) |

Want to add your own? Implement the simple Bus interface!

📚 Documentation

Visit docs

🚀 Quick Start

Here is a complete example of setting up a Network Master and scanning for nodes on a SocketCAN bus.

package main

import (
	"fmt"
	"log/slog"
	"os"

	"github.com/samsamfire/gocanopen/pkg/network"
	"github.com/samsamfire/gocanopen/pkg/od"
)

func main() {
    // 1. Setup Logger (Optional but recommended)
    logger := slog.New(slog.NewTextHandler(os.Stdout, &slog.HandlerOptions{Level: slog.LevelDebug}))

	// 2. Initialize the Network
	net := network.NewNetwork(nil)
    net.SetLogger(logger)

    // 3. Connect to the CAN interface (SocketCAN example)
	err := net.Connect("socketcan", "can0", 500_000)
	if err != nil {
		panic(err)
	}
	defer net.Disconnect()

	// 4. Add a Remote Node (e.g., a motor drive at ID 0x10)
    // We use the default embedded OD for basic definitions
	node, err := net.AddRemoteNode(0x10, od.Default())
	if err != nil {
		panic(err)
	}

	// 5. Read a value (Manufacturer Device Name - 0x1008)
    // The Configurator provides typed helpers for standard objects
	devName, err := node.Configurator().ReadManufacturerDeviceName()
	if err != nil {
		fmt.Printf("Error reading device name: %v\n", err)
	} else {
		fmt.Printf("Found Node 0x10: %s\n", devName)
	}

	// 6. Scan the entire network for other nodes
	fmt.Println("Scanning network...")
	foundNodes, err := net.Scan(1000) // 1000ms timeout
	if err != nil {
		panic(err)
	}
	
    for id, info := range foundNodes {
        fmt.Printf(" > Discovered Node ID: 0x%X (Info: %v)\n", id, info)
    }
}

🧪 Testing

The project uses a combination of:

1. Unit / Integration tests written in Go.
2. Integration tests written in Python (tests/) to test with another reference implementation.

To be able to run tests in Github Actions, we use a virtualcan interface.

To run Go tests:

1. Launch virtualcan server :

virtualcan --port 18888

2. Run tests:

cd pkg && go test ./... -v -p 1

To run Python tests:

1. Install python requirements

pip install -r ./tests/requirements.txt

2. Launch virtualcan server :

virtualcan --port 18889

3. Run tests:

cd tests && python -m pytest -v

🤝 Contributing

Contributions are welcome! Whether it's adding a new CAN driver, fixing a bug, or improving documentation.

📄 License

This project is licensed under the MIT License - see the LICENSE file for details.