[dborgards]

What does this change?

Closes #401. Analysis tools can continuously inspect SRDO pairs and GFCs through ForeignSrdoMonitor without a local CANopen node, object-dictionary writes or any transmissions. Prepared immutable mappings and explicit observer SCT/SRVT retain configuration provenance; producer snapshot refresh periods and CRC defaults are never inferred as observer limits.

The monitor evaluates capture-time order, inversion, format, length and deadlines independently per SRDO, returns immutable values and historical age, and discards current/pending data on faults. Bounded polling preserves captured timing despite delayed UI delivery. Subscription sequences/drop counters qualify gaps separately, with fresh-pair recovery and sticky incomplete trace quality. Each valid or malformed GFC candidate remains a distinct timestamped bus event without sender or safe-state attribution. Configuration replacement, startup, mid-pair joins after gaps or timing failures, recovery, timing insufficiency and ownership/disposal are documented in the package guide and FR-CO-061.

Type of change

• feat — new behaviour (minor release)
• fix / perf — bug or performance fix (patch release)
• docs / test / refactor / chore / ci — no release
• Breaking change (! in the title, plus a BREAKING CHANGE: footer explaining the migration)

Checklist

• Build with -p:CI=true, test (net10.0), dotnet format --verify-no-changes, and pack + eng/verify-packages.py all pass locally
• Public API changes are documented with XML comments
• New behaviour is covered by a test
• The requirement or ADR this relates to is referenced: FR-CO-061 / CANopen Safety: add a receive-only foreign SRDO monitor with pairing and SRVT/SCT supervision #401

Validation also includes net48 compilation, generated API approval, requirements traceability and engineering checks. Controlled-clock cases cover delayed delivery, interleaved traffic, deadline boundaries/ties, startup/recovery, replacement, loss sequences/counters and saturation/wrap, GFC format/repetitions, immutability, ownership and zero transmissions. Fresh Cobertura entries for every new type have no missing lines or partial branches. Source mutations for inversion, capture timing, cross-gap pairing, GFC format, producer observer limits, SRVT expiry, accidental transmission and rejoin classification/history each produced failing assertions, then were restored.

[cursor]

PR Summary

Medium Risk
New safety-adjacent diagnostics with strict non-approval semantics; timing, capture gaps, and configuration mistakes could mislead operators if misread, but the design avoids OD writes and bus transmission.

Overview
Adds FR-CO-061 and a passive ForeignSrdoMonitor that supervises foreign SRDO pairs and GFCs from Raw CAN only—no local node, SDO, or transmissions.

ForeignSrdoConfiguration holds immutable mappings, explicit observer SRVT/SCT, provenance, and can be built from PeerSafetySnapshot (producer paths require both timing overrides). Poll returns bounded observations and per-SRDO state using host arrival timestamps, pairing/inversion rules aligned with the local consumer, SRVT/SCT deadlines, and optional ILossAwareSubscription gap/drop handling. GFCs on 001h are traced per occurrence without node or safe-state claims; ReplaceConfigurations starts a new evaluation period. Package README and SRS (EN/DE) document behavior and limits vs ObserveForeignSrdoAsync.

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[chatgpt-codex-connector]

Codex Review Summary

This comment shows the latest Codex review activity on this pull request.

Review	Status	Commit	Review trigger
📝 Code Review	✅ Completed 2026-10-26T05:39:31.843266Z	ce35673	New commits

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Codecov Report

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[cursor]

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