Claude/socanmatic issue 1 patches 7cgu4r - #2
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Implements the profiles requested in issue golems#1, alongside the existing DS301 (communication) and DS402 (drives) support. New profiles: * DS305 -- Layer Setting Services (LSS). Lets an LSS master configure the node-ID and bit-rate of slaves over the bus: switch mode global and selective, configure/activate bit timing, configure node-ID, store configuration, and inquire node-ID / identity. Also exposed through the shell tool as `canmat lss ...`. * DS401 -- Generic I/O device profile. Read/write helpers for 8-bit digital I/O (0x6000/0x6200) and 16-bit analogue I/O (0x6401/0x6411). * DS405 -- Interface and device profile for IEC 61131-3 programmable devices. Typed read/write accessors for network variables, with the full input/output index table from CiA 405 tables 4 and 5 (including the REAL32 network-variable path). DS305 lives in the base library; DS401 and DS405 are built as separate profile libraries mirroring the DS402 layout. Build fixes needed to make this decade-old tree build on a modern toolchain: * Port the canmatc EDS-to-C generator from Python 2 to Python 3 (configparser, print(), read_file, eager map, list() around dict keys/range). Restore inline ';' comment stripping that Python 2's ConfigParser did by default, which the generated dictionaries rely on. * Add the missing `typedef` on enum canmat_402_polarity_mask in ds402.h. Without it the enum name became a tentative global definition in every translation unit, which fails to link under modern GCC's -fno-common default. Verified with the full autotools build (autoreconf/configure/make) and make check (test_sdo passes). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01P2vev2FUGJ83n8XdihYHo2 Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_013DfTvJceEThw8L7uzes7Am
Review fixes for the LSS support: * canmat lss node/baud/store printed canmat_lss_strerror(err) on any failure, but err is only meaningful when the slave itself reported an error (CANMAT_ERR_DEV). A transport or protocol failure left err at 0 and printed "failed: Success". Fall back to canmat_iface_strerror for non-device errors. * canmat_lss_switch_mode_selective read data[0] of the response without checking can_dlc, unlike the other LSS receive paths. Reject frames shorter than 1 byte as a protocol error. * Mark fail() noreturn (new ATTR_NORETURN macro alongside ATTR_PRINTF) and drop the unreachable return after it in the lss switch branch. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_013DfTvJceEThw8L7uzes7Am
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Disclaimer: I have not reviewed this code, nor have I run this on real hardware. In fact, it's been like ten or twelve years since I so much as touched one of the motors that this library talks to! But it compiles on modern systems now. :V
I hope your day just got a little bit weirder.
Claude's PR description follows:
Closes #1.
Adds the CANopen profiles requested in the issue — DS305, DS401, and DS405 — alongside the existing DS301 (communication) and DS402 (drives) support.
New profiles
canmat lss .... Lives in the base library.libsocanmatic401profile library.libsocanmatic405profile library.Build fixes needed to build this decade-old tree on a modern toolchain
canmatcEDS-to-C generator from Python 2 to Python 3 (configparser,print(),read_file, eagermap,list()around dict keys/range), restoring the inline;comment stripping that Python 2's ConfigParser did by default.typedefonenum canmat_402_polarity_maskinds402.h, which otherwise fails to link under modern GCC's-fno-commondefault.Verification
Full autotools build (
autoreconf/configure/make) is clean andmake checkpasses (PASS: test_sdo), withlibsocanmatic401,libsocanmatic405, andds305.oall produced.🤖 Generated with [Claude Code](https://claude.com/claude-code)