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. The matching vendor runtime is
included in every platform wheel; no separate download command is required. Set
MOTOR_DM_DEVICE_LIB only when intentionally overriding the packaged runtime.
The current official macOS v1.1 dylib requires macOS 26, and the packaged wheel is tagged
accordingly rather than claiming compatibility with an older system.
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(...), andfrom_dm_device(...).Controller.add_damiao_motor(...),enable_all(),disable_all(),request_feedback_all(),set_tx_gap_us(),transport_capabilities(),shutdown(), andclose_bus().ControllerGroup(...),send_pos_vel(...), andsend_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, andstore_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.
1 maintainer
Metadata
1 maintainer
Release files for motor-drive-layer 0.7.4
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Built distributions (wheels)
| File | Reset | |||
|---|---|---|---|---|
| motor_drive_layer-0.7.4-py3-none-win_amd64.whl | Python 3 | none | Windows x86-64 | Details |
| motor_drive_layer-0.7.4-py3-none-manylinux_2_35_aarch64.whl | Python 3 | none | Linux glibc 2.35+ ARM64 | Details |
| motor_drive_layer-0.7.4-py3-none-manylinux_2_34_x86_64.whl | Python 3 | none | Linux glibc 2.34+ x86-64 | Details |
| motor_drive_layer-0.7.4-py3-none-macosx_26_0_x86_64.whl | Python 3 | none | macOS 26.0+ x86-64 | Details |
| motor_drive_layer-0.7.4-py3-none-macosx_26_0_arm64.whl | Python 3 | none | macOS 26.0+ ARM64 | Details |
Total release size: 2.5 MB
Release files / motor_drive_layer-0.7.4-py3-none-win_amd64.whl
| Download URL | motor_drive_layer-0.7.4-py3-none-win_amd64.whl |
|---|---|
| Size | 307.7 kB |
| Tags | Python 3 Windows x86-64 |
|
SHA-256 checksum How to use checksums |
094f477b4174b809418c947a1d1a07a0bff09ed39c7b3d59f52edb61e71d81e2
|
|
BLAKE2b-256 checksum How to use checksums |
1039f82a9d0575afb5be440432970ec35695e61cd4afcf35a75830de7f3e0634
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
twine/6.2.0 CPython/3.10.12
|
Release files / motor_drive_layer-0.7.4-py3-none-manylinux_2_35_aarch64.whl
| Download URL | motor_drive_layer-0.7.4-py3-none-manylinux_2_35_aarch64.whl |
|---|---|
| Size | 418.4 kB |
| Tags | Linux glibc 2.35+ ARM64 Python 3 |
|
SHA-256 checksum How to use checksums |
0d55ebf975342826cd364c665f5263d875d53f264da0603fa0df52e4271bbf0f
|
|
BLAKE2b-256 checksum How to use checksums |
41a82622b11b3336ec21627c7f6463425799a5baed1cb94d1b58886675e2648e
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
twine/6.2.0 CPython/3.10.12
|
Release files / motor_drive_layer-0.7.4-py3-none-manylinux_2_34_x86_64.whl
| Download URL | motor_drive_layer-0.7.4-py3-none-manylinux_2_34_x86_64.whl |
|---|---|
| Size | 1.2 MB |
| Tags | Linux glibc 2.34+ x86-64 Python 3 |
|
SHA-256 checksum How to use checksums |
238d42e275297a8455a8fe1f4a07eb40dbcd1988555b662af9c922da8fb37c48
|
|
BLAKE2b-256 checksum How to use checksums |
2599553ba22464f30bd91dc8b0d81185186c54bbb330e5fd332fad07a1fe6885
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
twine/6.2.0 CPython/3.10.12
|
Release files / motor_drive_layer-0.7.4-py3-none-macosx_26_0_x86_64.whl
| Download URL | motor_drive_layer-0.7.4-py3-none-macosx_26_0_x86_64.whl |
|---|---|
| Size | 294.6 kB |
| Tags | Python 3 macOS 26.0+ x86-64 |
|
SHA-256 checksum How to use checksums |
b15a19aa5c21b8c0b631e4dfbab2238d0a6d9d1568b0a5472034cc30c826e7c5
|
|
BLAKE2b-256 checksum How to use checksums |
dc7bcd58db4e489650a1949cdf5d33b598a196615ee341f87a31cef8e064d7b9
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
twine/6.2.0 CPython/3.10.12
|
Release files / motor_drive_layer-0.7.4-py3-none-macosx_26_0_arm64.whl
| Download URL | motor_drive_layer-0.7.4-py3-none-macosx_26_0_arm64.whl |
|---|---|
| Size | 280.3 kB |
| Tags | Python 3 macOS 26.0+ ARM64 |
|
SHA-256 checksum How to use checksums |
cc9f2d6f0f6f2e3113750c4d9d0a5ab270548dda7689c2f00a2075803a6160aa
|
|
BLAKE2b-256 checksum How to use checksums |
d3927d69fd576d76edb179db08df672a2eae5c871d6e86cd4a8c9dcb456de3c1
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
twine/6.2.0 CPython/3.10.12
|
