motor-drive-layer

Python bindings for the Motor-Drive-Layer native C++ Damiao motor driver.

The package loads the two bundled native ABI libraries through Python ctypes and exposes SocketCAN, SocketCAN-FD, Damiao serial bridge, and optional DM_Device transports. libmotor_abi is the generic motor layer; libarticore_runtime is the separately versioned product safety runtime consumed by Articore SDKs. Use articore_runtime_abi_version() and articore_runtime_capabilities() to inspect that product runtime independently from abi_version() and abi_capabilities(). Runtime ABI 1.3 exposes the native latest-value joint mailbox and single active trajectory engine in addition to current_position_hold: arm safe hold snapshots fresh cached positions and rejects stale or faulted feedback instead of replaying the previous user target. Published wheels cover Linux x86_64/ARM64, macOS Intel/Apple Silicon, and Windows x64. The serial transport is cross-platform; SocketCAN transports remain Linux-only.

DM-USB2FDCAN Dual works with its original dual_app firmware through Controller.from_dm_device(device="usb2canfd-dual", channel=0, bitrate=1_000_000, data_bitrate=5_000_000). CH0 and CH1 are independently selectable, old positional arguments remain compatible, and the loader probes both vendor v1.0 and v1.1 ABIs. Install the separate vendor runtime with motor-drive-layer-install-dm-device --download or set MOTOR_DM_DEVICE_LIB. On final Controller close, v1.1 fully tears down its device session. The Linux v1.0 runtime instead closes the selected channels and motor-layer resources but retains its legacy context/device until process exit, allowing a later Controller.from_dm_device(...) call to reconnect reliably in the same Python process. The operating system reclaims those retained vendor objects at exit because calling the vendor destructor during static teardown can race libusb thread cleanup.

Use Motor.request_fresh_state(timeout_ms=50) when the caller must wait for a newly requested feedback frame. For multiple motors, Controller.request_feedback_all(timeout_ms=50) sends every request with the configured TX pacing and waits against one shared deadline; a timeout reports the missing motor IDs. The public method internally uses the structured native entry point and raises typed FeedbackTimeoutError, IncompleteFeedbackError, FeedbackTransportError, or FeedbackMotorFaultError exceptions. Each remains a CallError subclass and carries a stable error_code plus a FeedbackReport containing timeout, expected/received/missing counts, and missing motor IDs; no caller needs to use an _ex Python method. The lower-level request_feedback(), get_state(), and poll_feedback_once() methods remain non-blocking asynchronous/cache operations.

For synchronized multi-channel control, ControllerGroup([ch0, ch1]) creates one persistent native worker per Controller. send_pos_vel([...]) and send_mit([...]) dispatch typed PosVelCommand or MitCommand values across their owning controllers, overlap independent TX pacing waits, and return after every controller finishes. Errors retain the controller/channel, motor ID, and native reason. For fixed high-rate layouts, prepare_pos_vel(motors) and prepare_mit(motors) reuse one validated ctypes command array across calls. Controller.transport_capabilities() reports the active transport's CAN-FD, channel, parallel-send, reconnect, session-reuse, and timestamp capabilities. Controller.transport_health() reports live connection state, TX/RX counters, errors, and last activity ages without adding robot-product policy to the transport layer.

The motor-drive-layer-stress command provides a feedback-only DM_Device load/reconnect test and reports latency plus Linux file-descriptor/thread counts. It never enables or commands motors.

The wheel includes py.typed and .pyi declarations for editor completion and static type checking. The main public APIs are:

Controller(...), from_socketcanfd(...), from_dm_serial(...), and from_dm_device(...).
Controller.add_damiao_motor(...), enable_all(), disable_all(), request_feedback_all(), set_tx_gap_us(), transport_capabilities(), shutdown(), and close_bus().
ControllerGroup(...), send_pos_vel(...), and send_mit(...) for persistent native multi-controller dispatch, plus reusable prepared batches for fixed layouts.
Motor.enable(), disable(), ensure_mode(), all four control-mode send methods, fresh/cached feedback methods, typed register access, parameter aliases, and store_parameters().
MitCommand, PosVelCommand, MotorState, FeedbackStats, Mode, register metadata/constants, and SDK exception classes.

Motor is a logical child of its creating Controller. After the parent closes, motor operations raise CallError; motor.close() can still release the handle. Both classes support context managers. Leaving a Motor context only frees its handle, while leaving a Controller context attempts to disable all motors before closing the bus.

See the project README for build instructions, architecture, configuration, safety guidance, and examples.

This package is distributed under the MIT License. The optional DM_Device vendor runtime is distributed separately and may have its own license terms.

Metadata

Release files for motor-drive-layer 0.7.3

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Built distribution (wheel)

Table of built distributions (wheels) for motor-drive-layer 0.7.3
File	Interpreter	ABI	Platform	Reset
motor_drive_layer-0.7.3-py3-none-manylinux_2_35_x86_64.whl 254.2 kB Aug 12, 2026	Python 3	none	Linux glibc 2.35+ x86-64	Details

Release files / motor_drive_layer-0.7.3-py3-none-manylinux_2_35_x86_64.whl

Download URL	motor_drive_layer-0.7.3-py3-none-manylinux_2_35_x86_64.whl
Size	254.2 kB
Tags	Linux glibc 2.35+ x86-64 Python 3
SHA-256 checksum How to use checksums	`e20d399db70f3f7d362ca9964420f8418e6a635e9a13648da59866ca8c033d4c`
BLAKE2b-256 checksum How to use checksums	`7fd7c0781dcf8e4adef60cd6619f83b95e6d9b8839218db387f0f581ec6fbd18`
Upload date	Aug 12, 2026
Uploaded using Trusted Publishing? What is trusted publishing?	No
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