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 1.8 adds measured
trajectory settling and sustained per-joint following-error supervision. Runtime ABI 1.7 adds opt-in
velocity-continuous trajectory replacement and explicit atomic cancellation/current-position hold,
while the legacy start entry point remains reject-if-busy. Runtime ABI 1.6 adds checked,
deterministic disable/close with a ControllerGroup and USB/CAN feedback barrier, parallel CH0/CH1
torque-off, one directed retry for only unconfirmed motors, and a structured disable report.
Runtime ABI 1.5 adds explicit
STREAMING and HOLD_UNTIL_REPLACED direct-command lifetimes so physical motion duration is not
confused with caller update cadence. Runtime ABI 1.4 adds native
atomic enable with parallel CH0/CH1 activation, immediate current-position hold, parallel feedback
confirmation, and all-motor rollback. Runtime ABI 1.3 exposes the
native latest-value joint mailbox and single active trajectory engine in addition to
current_position_hold. Runtime ABI 1.5 also advertises protective_fault_hold: a transient
feedback miss keeps the current output, while persistent loss stops trajectories and holds every
still-controllable motor/channel without automatically torque-disabling unrelated hardware.
SDK bindings use articore_runtime_create_ex() and pass the motor enable callbacks explicitly;
the two packaged native libraries remain independently loadable on Linux, Windows, and macOS.
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.
Linux ARM64 wheels include a private libusb 1.0.27 build so the vendor v1.1 runtime can use
libusb_init_context on Ubuntu 22.04 without replacing the host's libusb 1.0.25 package.
Linux x86_64 wheels contain both v1.0 and a complete v1.1 environment using the same private
libusb together with a private compatible libstdc++. v1.0 remains the default on x86_64 because
the official v1.1 runtime batches receive callbacks at roughly 100 ms with dual_app v1.0.0.3;
set MOTOR_DM_DEVICE_ABI=v1.1 to opt in without installing any host runtime.
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 CLI scan command similarly uses one Controller and one batch
discover_damiao_motors() call for its entire candidate range, then uses
close_bus() plus close() so scanning never emits disable frames. The repository's
scripts/test_dm_device_scan_lifecycle.py runs 100 scan-process/CH0+CH1-reader-process cycles.
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.
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Release files for motor-drive-layer 0.8.5
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| File | Reset | |||
|---|---|---|---|---|
| motor_drive_layer-0.8.5-py3-none-win_amd64.whl | Python 3 | none | Windows x86-64 | Details |
| motor_drive_layer-0.8.5-py3-none-manylinux_2_35_aarch64.whl | Python 3 | none | Linux glibc 2.35+ ARM64 | Details |
| motor_drive_layer-0.8.5-py3-none-manylinux_2_34_x86_64.whl | Python 3 | none | Linux glibc 2.34+ x86-64 | Details |
| motor_drive_layer-0.8.5-py3-none-macosx_26_0_x86_64.whl | Python 3 | none | macOS 26.0+ x86-64 | Details |
| motor_drive_layer-0.8.5-py3-none-macosx_26_0_arm64.whl | Python 3 | none | macOS 26.0+ ARM64 | Details |
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