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Packages

Nine packages, one version number, released together to nuget.org. Take only the layers you need: an ISO-TP application pulls in five of them, a plain demultiplexer one.

1.0.0 – 1.2.3 are withdrawn

These six versions were published as stable before the API had been reviewed against the specifications, and are unlisted and deprecated on nuget.org. 1.3.0 is the first release whose API is stable; use it or later. See Versioning.

Everything targets netstandard2.0 and net10.0, so .NET Framework 4.6.2+, .NET 8 and .NET 10 all work. Every package depends on CanKit.Abstractions where it touches a bus and on nothing vendor-specific anywhere.

L2 · Infrastructure

The layer every protocol stack needs and usually rebuilds: how instances share a bus, on which thread state changes, how a timeout is guaranteed to fire, how an ID is composed.

Package What it gives you Depends on
CanKit.Pro.RawCan NuGet N independent, filtered, read-only views of one ICanBus, reconfigurable at runtime, plus SendConfirmedAsync for a uniform TX confirmation. CanKit.Abstractions
CanKit.Pro.Actor NuGet ProtocolActor: single-mailbox, single-writer execution with an event-driven timer queue and one background-exception channel. —
CanKit.Pro.Addressing NuGet Validated 11/29-bit CAN IDs, J1939 PGN/priority/PDU/source-address composition, J1939 NAME and PGN catalogues. —
CanKit.Pro.Reliability NuGet Deadlines whose expiry is guaranteed to be checked, and a BusStateMonitor that pushes bus-state transitions and recovery. CanKit.Abstractions, Actor

L3 · Transports

Package What it gives you Standard
CanKit.Pro.IsoTp NuGet SF/FF/CF/FC codec, bounds-checked PCI parsing, STmin pacing, and an actor-driven IIsoTpChannel over CAN and CAN FD; functional (1:N) addressing. ISO 15765-2
CanKit.Pro.J1939Tp NuGet TP.BAM broadcast and TP.CM connection mode (RTS/CTS/EndOfMsgAck), multi-session, all timers on the actor. SAE J1939-21

L4 · Application protocols

Package What it gives you Standard
CanKit.Pro.Uds NuGet Client over ISO-TP: session control, security access, read/write by identifier, routine control, upload/download, P2/P2* timing and 0x78 response-pending. ISO 14229-1
CanKit.Pro.CANopen NuGet Node whose object dictionary carries the communication profile and drives it: SDO client/server incl. block transfer, PDO engine with every CiA 301 transmission type and SDO-configurable mapping, NMT, heartbeat, node and life guarding, SYNC, EMCY; object dictionary loadable from an EDS/DCF; CANopen Safety: SRDO/GFC, opt-in. CiA 301, CiA 302-2, CiA 304 (DSP V1.0), CiA 306, CiA 319 (v2.0.0)
CanKit.Pro.J1939 NuGet Node: address claim with arbitrary-address fallback, PGN send/receive with automatic TP routing, SPN extraction, fixed-rate periodic send. SAE J1939

Who depends on whom

Arrows point at dependencies. The L2 packages are leaves or nearly so; everything above composes them and never talks to a vendor SDK.

flowchart BT
    ABS["CanKit.Abstractions<br/><small>upstream, nuget.org</small>"]:::upstream
    ACT["CanKit.Pro.Actor"]:::l2
    ADR["CanKit.Pro.Addressing"]:::l2
    RAW["CanKit.Pro.RawCan"]:::l2
    REL["CanKit.Pro.Reliability"]:::l2
    ISO["CanKit.Pro.IsoTp"]:::l3
    JTP["CanKit.Pro.J1939Tp"]:::l3
    UDS["CanKit.Pro.Uds"]:::l4
    CO["CanKit.Pro.CANopen"]:::l4
    J["CanKit.Pro.J1939"]:::l4

    RAW --> ABS
    REL --> ABS
    REL --> ACT
    ISO --> RAW & ACT & REL
    JTP --> RAW & ACT & REL & ADR
    UDS --> ISO
    CO --> RAW & ACT & REL
    J --> JTP & ADR

    classDef upstream stroke:#8a97ab,stroke-width:1.5px,stroke-dasharray:4 3
    classDef l2 stroke:#7f9fd0,stroke-width:2.5px
    classDef l3 stroke:#1fb6d0,stroke-width:2.5px
    classDef l4 stroke:#f5b342,stroke-width:2.5px

Install

# CanKit itself: the core plus one adapter for the hardware you talk to
dotnet add package CanKit.Core
dotnet add package CanKit.Adapter.Virtual     # loopback, no hardware
# dotnet add package CanKit.Adapter.PCAN      # or Kvaser, Vector, SocketCAN, ZLG, ControlCAN

# CanKit.Pro: the protocol you need brings its own infrastructure along
dotnet add package CanKit.Pro.Uds             # pulls IsoTp, RawCan, Actor, Reliability
dotnet add package CanKit.Pro.CANopen
dotnet add package CanKit.Pro.J1939           # pulls J1939Tp, Addressing, RawCan, Actor, Reliability

Each package page below is the package's own README, the same text that ships inside the .nupkg and appears on nuget.org.