motorbridge 0.4.6

Python SDK for motorbridge Rust ABI

motorbridge Python SDK

Channel Compatibility (PCAN + CANable candleLight/gs_usb + CAN-FD + Damiao Serial Bridge + DM_Device)

• Linux SocketCAN uses prepared interfaces directly: can0, can1. For CANable, use candleLight/gs_usb firmware so it appears as a SocketCAN interface such as can0.
• Use PCAN or CANable candleLight/gs_usb for standard CAN.
• CAN-FD transport is available both in CLI (--transport socketcanfd) and Python SDK (Controller.from_socketcanfd(...)), and is required for Hexfellow.
• Damiao-only adapter transports are available in CLI: serial bridge (--transport dm-serial --serial-port /dev/ttyACM0 --serial-baud 921600) and DM_Device SDK (--transport dm-device --dm-device-type usb2canfd|usb2canfd-dual|linkx4c --dm-channel 0|1|2|3; Damiao motors only; adapter must be in USB mode).
• Damiao-only DM_Device SDK transport is available in CLI (--transport dm-device --dm-device-type usb2canfd|usb2canfd-dual|linkx4c) and Python SDK (Controller.from_dm_device(...)). The adapter must be in USB mode. Channel mapping: usb2canfd => 0, usb2canfd-dual => 0/1, linkx4c => SDK channels 0..3. Linux x86_64 USB2CANFD_DUAL channel 0/1 and LINKX4C channel 0..3 scans are verified.
• Full Damiao serial-bridge interface list and command patterns are documented in motor_cli/README.md (section 3.6 in motor_cli/README.zh-CN.md).
• On Linux SocketCAN, do not append bitrate in --channel (for example can0@1000000 is invalid).
• On Windows (PCAN backend), can0/can1 map to PCAN_USBBUS1/2; optional @bitrate suffix is supported.

Python binding layer on top of motor_abi.

Chinese version: README.zh-CN.md

README Navigation (What Each One Is For)

If this is your first time in this folder, read in this order:

1. This file: README.md
   Purpose: Python binding overview (install, API scope, common commands).
2. examples/README.md (English) / examples/READMEzh_cn.md (Chinese)
   Purpose: practical demo index and run instructions (from simplest to advanced). 2.5. ../motorbridge-docs Purpose: canonical Mintlify documentation site (tutorial + API style docs).
3. get_started/README.md / get_started/README.zh-CN.md
   Purpose: pip-first onboarding path (install -> scan -> run).
4. DAMIAO_PYTHON_REFERENCE.zh-CN.md
   Purpose: Damiao Python interface reference (parameter lookup style).
5. DAMIAO_binding.md
   Purpose: Damiao binding implementation notes (design/internal behavior).
6. README.zh-CN.md
   Purpose: Chinese overview for Chinese-speaking teammates.

Notes:

• If your goal is "run something now", start with Start Here (Simplest 2 Examples) in examples/README.md.
• If your goal is CLI parameter lookup, see ../../motor_cli/README.md.

Scope

Packaging note:

• Current package target version: 0.4.6.
• Published wheel includes motor_abi shared library and ws_gateway binary for that platform.
• Published wheels do not bundle the DaMiao DM_Device SDK runtime. When Controller.from_dm_device(...), Python CLI --transport dm-device, or motorbridge-gateway --transport dm-device is used, motorbridge resolves the current OS/arch runtime. If the runtime is missing, it prints the required file name, GitHub download URL, and valid install paths. This keeps Linux manylinux wheels compatible with auditwheel while keeping runtime setup explicit.
• DM_Device runtime controls:
  • Show the required runtime and install paths: motorbridge-install-dm-device
  • Download explicitly into the user cache: motorbridge-install-dm-device --download
  • Print the resolved path: motorbridge-install-dm-device --print-path
  • Use a manually installed SDK runtime: MOTOR_DM_DEVICE_LIB=/path/to/libdm_device.so
  • Use the source-tree location: third_party/dm_device/v1.1.0/<platform>/<arch>/<runtime>
  • Use an internal mirror for explicit downloads: MOTOR_DM_DEVICE_DOWNLOAD_BASE_URL=https://.../third_party/dm_device/v1.1.0
  • Override the cache directory: MOTOR_DM_DEVICE_CACHE_DIR=/path/to/cache
• DM_Device runtime support matrix:

Platform / Arch	Published Python Wheel	DM_Device Runtime Available	Runtime File	OS/runtime ABI notes	Hardware Verified
Linux x86_64	yes	yes	linux/x86_64/libdm_device.so	needs libusb-1.0.so.0, libstdc++.so.6 with GLIBCXX_3.4.32, GLIBC_2.14+	yes, USB2CANFD_DUAL channel 0/1 and LINKX4C channel 0..3 scan
Linux aarch64	yes	yes	linux/arm64/libdm_device.so	needs libusb-1.0.so.0, GLIBC_2.17+, GLIBCXX_3.4.22+	pending host validation
Windows x86_64	yes	yes	windows/msvc/dm_device.dll	needs libusb runtime/driver and Microsoft Visual C++ runtime (MSVCP140*.dll, VCRUNTIME140*.dll)	pending host validation
macOS arm64	yes	yes	macos/arm64/libdm_device.dylib	links system libc++, libSystem, libobjc; final OS floor pending macOS host validation	pending host validation
macOS x86_64	no official wheel	source/manual install only	macos/x86_64/libdm_device.dylib	links system libc++, libSystem, libobjc; final OS floor pending macOS host validation	pending host validation
Other arch/OS	no	no	none vendored	unsupported	unsupported

• ABI metadata helpers:

  • motorbridge.abi_version() returns the loaded ABI library version.
  • motorbridge.abi_capabilities() returns the loaded ABI capability JSON as a Python dict.

• 0.4.5 improves Damiao ensure_mode readback verification by retrying the mode-register write after failed verification attempts. It also documents the experimental RobStride robstride_cia402 and robstride_mit CLI paths; those paths are for testing/protocol bring-up and are not production-ready yet.

• 0.4.4 adds Damiao dm-device transport, Python Controller.from_dm_device(...), Python CLI --transport dm-device, and explicit runtime resolution for libdm_device.so/.dylib/.dll when the target platform has a vendored SDK runtime.

• For Python CLI scans with --transport dm-device, omit --dm-channel to scan every channel for the selected adapter: 0 on usb2canfd, 0|1 on usb2canfd-dual, or 0|1|2|3 on linkx4c. Pass --dm-channel ... to scan one physical channel.

• 0.4.2 optimizes Damiao dm-serial multi-motor control by making recv(0ms) non-blocking when no serial bytes are pending and by reducing the bounded serial read timeout to 1 ms.

• 0.4.1 adds ABI capability/version discovery and aligns C++ RobStride wrapper parity with the Python SDK. Binding parity is tracked in bindings/api_surface.json.

• After pip install motorbridge, gateway binary path is typically: .../site-packages/motorbridge/bin/ws_gateway (or ws_gateway.exe on Windows).

• 0.4.1 includes Damiao dm-serial whole-arm scan/session handling in the bundled gateway and adds damiao_state_many for multi-joint browser telemetry.

• 0.3.9 RobStride request_feedback() semantics and 0.3.8 PP/CSP-specific position-control entrypoints remain available while keeping the public Python binding API backward compatible.

• RobStride parameter writes default to no status-ack wait; set MOTORBRIDGE_ROBSTRIDE_WRITE_ACK_TIMEOUT_MS to restore synchronous waiting.

• The Python CLI is now implemented as a motorbridge.cli package, but motorbridge-cli, python -m motorbridge.cli, python -m motorbridge, from motorbridge.cli import main, and legacy flat run arguments remain supported.

• Gateway launch command (added to PATH by pip):

  • motorbridge-gateway -- --bind 127.0.0.1:9002 ...
  • This launcher executes the packaged Rust ws_gateway binary, so WS JSON ops such as state_stream, damiao_state_many, param_stream, damiao_param_stream, and robstride_param_stream are supported by the bundled gateway version.

• Security note:

  • keep loopback bind (127.0.0.1) for local usage.
  • if you bind to non-loopback addresses (0.0.0.0 or host IP), export MOTORBRIDGE_WS_TOKEN before launch.
  • clients must pass the token in x-motorbridge-token or Authorization: Bearer ....

• macOS runtime note (only if you see dynamic library load errors):

  • Resolve binary path generically: GW="$(python3 -c "import motorbridge, pathlib; print(pathlib.Path(motorbridge.__file__).resolve().parent/'bin'/'ws_gateway')")"
  • Use package-local lib directory (no machine-specific absolute path): PKG_DIR="$(python3 -c "import motorbridge, pathlib; print(pathlib.Path(motorbridge.__file__).resolve().parent)")" DYLD_LIBRARY_PATH="$PKG_DIR/lib:${DYLD_LIBRARY_PATH:-}" "$GW" --bind 127.0.0.1:9002 --vendor damiao --channel can0 --model auto --motor-id 0x01 --feedback-id 0x11 --dt-ms 20

• High-level API: Controller, Motor, Mode

• CLI: motorbridge-cli

• Controller constructors:

  • Controller(channel="can0") (SocketCAN/PCAN path)
  • Controller.from_socketcanfd(channel="can0") (CAN-FD path, required by Hexfellow)
  • Controller.from_dm_serial(serial_port="/dev/ttyACM0", baud=921600) (Damiao-only serial bridge)
  • Controller.from_dm_device(dm_device_type="usb2canfd-dual", dm_channel="0") / Controller.from_dm_device(dm_device_type="linkx4c", dm_channel="0") (Damiao-only DM_Device SDK transport)

• Vendors:

  • Damiao: add_damiao_motor(...)
  • Hexfellow: add_hexfellow_motor(...)
  • MyActuator: add_myactuator_motor(...)
  • RobStride: add_robstride_motor(...)
  • HighTorque: add_hightorque_motor(...)

• Unified state-query pattern:

  • Recommended flow: request_feedback() -> poll_feedback_once() -> get_state().
  • RobStride has no single-shot private-protocol status request; request_feedback() is a non-blocking no-op for RobStride. Use robstride_ping() for connectivity, active report for streaming state, or typed parameter reads for fresh position/velocity values.

Unified Mode Mapping Summary (Top-Level -> Vendor Native)

Unified Mode	Damiao	RobStride	Hexfellow	MyActuator	HighTorque
Mode.MIT	native MIT	native MIT	native MIT (mode 5)	unsupported	maps to native pos+vel+tqe
Mode.POS_VEL	native POS_VEL	maps to native Position (run_mode=1 + limit_spd(0x7017) + loc_ref(0x7016))	native POS_VEL (mode 1)	Position setpoint flow	maps to native pos+vel+tqe
Mode.VEL	native VEL	native Velocity	unsupported	native velocity setpoint flow	native velocity command
Mode.FORCE_POS	native FORCE_POS	unsupported	unsupported	unsupported	maps to native pos+vel+tqe

Note:

• RobStride unified high-level control currently covers MIT / POS_VEL / VEL.
• Torque/current is parameter-level only for RobStride (robstride_write_param_*), not a dedicated unified mode.
• RobStride feedback/host default should use 0xFD; scan tries 0xFD,0xFF,0xFE,0x00,0xAA by default.
• RobStride feedback_id / host_id is not the motor device_id; scan hits report the motor ID as probe / device_id.

Quick Start

from motorbridge import Controller, Mode

with Controller("can0") as ctrl:
    motor = ctrl.add_damiao_motor(0x01, 0x11, "4340P")
    ctrl.enable_all()
    motor.ensure_mode(Mode.MIT, 1000)
    motor.send_mit(0.0, 0.0, 20.0, 1.0, 0.0)
    print(motor.get_state())
    motor.close()

Damiao over serial bridge:

from motorbridge import Controller, Mode

with Controller.from_dm_serial("/dev/ttyACM1", 921600) as ctrl:
    motor = ctrl.add_damiao_motor(0x04, 0x14, "4310")
    ctrl.enable_all()
    motor.ensure_mode(Mode.MIT, 1000)
    motor.send_mit(0.5, 0.0, 20.0, 1.0, 0.0)
    motor.close()

RobStride quick use:

from motorbridge import Controller

with Controller("can0") as ctrl:
motor = ctrl.add_robstride_motor(127, 0xFD, "rs-00")
    print(motor.robstride_ping())
    print(motor.robstride_get_param_f32(0x7019))
    motor.close()

MyActuator quick use:

from motorbridge import Controller, Mode

with Controller("can0") as ctrl:
    motor = ctrl.add_myactuator_motor(1, 0x241, "X8")
    ctrl.enable_all()
    motor.ensure_mode(Mode.POS_VEL, 1000)
    motor.send_pos_vel(3.1416, 2.0)  # rad / rad/s
    print(motor.get_state())
    motor.close()

Hexfellow quick use (CAN-FD only):

from motorbridge import Controller, Mode

with Controller.from_socketcanfd("can0") as ctrl:
    motor = ctrl.add_hexfellow_motor(1, 0x00, "hexfellow")
    ctrl.enable_all()
    motor.ensure_mode(Mode.MIT, 1000)      # Hexfellow supports MIT / POS_VEL
    motor.send_mit(0.8, 1.0, 30.0, 1.0, 0.1)
    print(motor.get_state())
    motor.close()

CLI Examples

Damiao:

motorbridge-cli run \
  --vendor damiao --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --mode mit --pos 0 --vel 0 --kp 20 --kd 1 --tau 0 --loop 50 --dt-ms 20

# Rust CLI style ID update is also accepted:
motorbridge-cli run \
  --vendor damiao --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --set-motor-id 0x02 --set-feedback-id 0x12 --store 1 --verify-id 1

RobStride:

motorbridge-cli run \
  --vendor robstride --channel can0 --model rs-00 --motor-id 127 \
  --mode ping

RobStride MIT quick check:

motorbridge-cli run \
  --vendor robstride --channel can0 --model rs-00 \
  --motor-id 2 --feedback-id 0xFD \
  --mode mit --ensure-strict 1 \
  --pos 0.5 --vel 0 --kp 20.0 --kd 0.5 --tau 0 \
  --loop 100 --dt-ms 20

RobStride position target, aligned with the WS gateway native register path (limit_spd 0x7017, loc_kp 0x701E, loc_ref 0x7016):

motorbridge-cli run \
  --vendor robstride --channel can0 --model rs-00 \
  --motor-id 2 --feedback-id 0xFD \
  --mode pos-vel \
  --pos 1.5 --vlim 1.0 --loc-kp 5.0 \
  --loop 1 --dt-ms 20

motorbridge-cli run \
  --vendor robstride --channel can0 --model rs-00 \
  --motor-id 2 --feedback-id 0xFD \
  --mode pos-vel \
  --pos -1.5 --vlim 1.0 --loc-kp 5.0 \
  --loop 1 --dt-ms 20

RobStride parameter read:

motorbridge-cli robstride-read-param \
  --channel can0 --model rs-00 --motor-id 127 --param-id 0x7019 --type f32

# Rust CLI style is also accepted by Python CLI:
motorbridge-cli run \
  --vendor robstride --channel can0 --model rs-00 --motor-id 127 --feedback-id 0xFD \
  --mode read-param --param-id 0x7019 --param-type f32

Damiao parameter read/write:

motorbridge-cli damiao-read-param \
  --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --param-id 21 --type f32

motorbridge-cli damiao-write-param \
  --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --param-id 8 --type u32 --value 0x01 --verify 1

Unified scan (all vendors):

motorbridge-cli scan --vendor all --channel can0 --start-id 0x01 --end-id 0xFF

RobStride-focused scan and ID update:

motorbridge-cli scan \
  --vendor robstride --channel can0 --start-id 1 --end-id 127 \
  --feedback-ids 0xFD,0xFF,0xFE,0x00,0xAA

motorbridge-cli id-set \
  --vendor robstride --channel can0 \
  --motor-id 127 --feedback-id 0xFD \
  --new-motor-id 126 --store 1 --verify 1

HighTorque via binding:

from motorbridge import Controller

with Controller("can0") as ctrl:
    motor = ctrl.add_hightorque_motor(1, 0x01, "hightorque")
    motor.send_mit(3.1416, 0.8, 0.0, 0.0, 0.8)  # kp/kd are accepted but ignored by protocol
    motor.request_feedback()
    print(motor.get_state())
    motor.close()

HighTorque via Rust CLI:

cargo run -p motor_cli --release -- \
  --vendor hightorque --channel can0 --motor-id 1 --mode read

Experimental Windows Support (PCAN-USB)

Linux remains the primary target. Windows support is experimental and currently uses PEAK PCAN.

• Install PEAK PCAN driver + PCAN-Basic runtime (PCANBasic.dll).
• Use channel as can0@1000000 (maps to PCAN_USBBUS1 at 1Mbps).

Recommended quick validation with Rust CLI on Windows:

cargo run -p motor_cli --release -- --vendor damiao --channel can0@1000000 --model 4340P --motor-id 0x01 --feedback-id 0x11 --mode scan --start-id 1 --end-id 16
cargo run -p motor_cli --release -- --vendor damiao --channel can0@1000000 --model 4340P --motor-id 0x01 --feedback-id 0x11 --mode pos-vel --pos 3.1416 --vlim 2.0 --loop 1 --dt-ms 20
cargo run -p motor_cli --release -- --vendor damiao --channel can0@1000000 --model 4310 --motor-id 0x07 --feedback-id 0x17 --mode pos-vel --pos 3.1416 --vlim 2.0 --loop 1 --dt-ms 20

Local wheel build (Windows):

python -m pip install --user wheel
set MOTORBRIDGE_LIB=%CD%\\target\\release\\motor_abi.dll
set MOTORBRIDGE_WS_GATEWAY_BIN=%CD%\\target\\release\\ws_gateway.exe
python -m pip wheel --no-build-isolation bindings/python -w bindings/python/dist
python -m pip install bindings/python/dist/motorbridge-*.whl

Example Programs

• Damiao wrapper demo: examples/python_wrapper_demo.py
• Hexfellow CAN-FD demo: examples/hexfellow_canfd_demo.py (MIT / POS_VEL only)
• Damiao maintenance demo: examples/damiao_maintenance_demo.py
• Damiao register rw demo: examples/damiao_register_rw_demo.py
• Damiao dm-serial demo: examples/damiao_dm_serial_demo.py
• RobStride wrapper demo: examples/robstride_wrapper_demo.py
• Full Damiao mode demo: examples/full_modes_demo.py
• Damiao scan / tune / position helpers:
  • examples/scan_ids_demo.py
  • examples/pid_register_tune_demo.py
  • examples/pos_ctrl_demo.py
  • examples/pos_repl_demo.py

See examples/README.md (English) or examples/READMEzh_cn.md (Chinese).

Damiao Full-Coverage Status

Damiao usage in Python examples is now covered end-to-end:

• control modes: mit / pos-vel / vel / force-pos
• transport paths: SocketCAN/PCAN constructor + from_socketcanfd(...) + from_dm_serial(...) + from_dm_device(...)
• maintenance ops: clear_error, set_zero_position, set_can_timeout_ms, request_feedback
  • project guard for Damiao set-zero: call disable() before set_zero_position()
  • no user-facing ms parameter for set-zero; core applies fixed 20ms settle
• register APIs: get/write f32, get/write u32, store_parameters

RobStride Maintenance Notes

• clear_error() is supported through the same unified motor method as Damiao.
• robstride_set_active_report(True/False) toggles RobStride comm_type 24 active status reporting.
• With active reporting enabled, background polling can update get_state() from incoming status frames without a fresh query command; request_feedback() remains available as a compatibility/manual-refresh helper.

CLI Run-Mode Argument Map

motorbridge-cli run keeps one unified command surface, but each vendor/mode uses only the arguments that its native protocol understands.

Vendor	Mode	Effective arguments	Notes
Damiao	mit	--pos --vel --kp --kd --tau	native MIT frame
Damiao	pos-vel	--pos --vlim	native position-speed frame
Damiao	vel	--vel	native velocity frame
Damiao	force-pos	--pos --vlim --ratio	native force-position frame
RobStride	mit	--pos --vel --kp --kd --tau	native MIT frame
RobStride	pos-vel	--pos --vlim --loc-kp	maps to native Position mode; --kp is accepted as a --loc-kp fallback
RobStride	vel	--vel	native speed mode
HighTorque	mit	--pos --vel --tau	--kp/--kd are accepted for unified signature but ignored by ht_can v1.5.5
Hexfellow	mit	--pos --vel --kp --kd --tau	CAN-FD path
Hexfellow	pos-vel	--pos --vlim	CAN-FD path

For RobStride pos-vel, --vel, --kd, and --tau are intentionally ignored because the firmware path is parameter-based (limit_spd, loc_kp, loc_ref). The Rust CLI and Python CLI warn when those ignored arguments are explicitly provided.

End-to-End Demo Commands

# Build ABI once
cargo build -p motor_abi --release
export PYTHONPATH=bindings/python/src
export LD_LIBRARY_PATH=$PWD/target/release:${LD_LIBRARY_PATH}

# Damiao wrapper demo
python3 bindings/python/examples/python_wrapper_demo.py \
  --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --pos 0 --vel 0 --kp 20 --kd 1 --tau 0 --loop 20 --dt-ms 20

# RobStride wrapper demo: ping
python3 bindings/python/examples/robstride_wrapper_demo.py \
  --channel can0 --model rs-00 --motor-id 2 --feedback-id 0xFD --mode ping

# RobStride wrapper demo: clear fault
python3 bindings/python/examples/robstride_wrapper_demo.py \
  --channel can0 --model rs-00 --motor-id 2 --feedback-id 0xFD --mode clear-error

# RobStride wrapper demo: active-report bring-up
python3 bindings/python/examples/robstride_wrapper_demo.py \
  --channel can0 --model rs-00 --motor-id 2 --feedback-id 0xFD \
  --mode write-param --param-id 0x7026 --param-type u16 --param-value 3

python3 bindings/python/examples/robstride_wrapper_demo.py \
  --channel can0 --model rs-00 --motor-id 2 --feedback-id 0xFD \
  --mode active-report --active-report 1

# RobStride wrapper demo: position command
python3 bindings/python/examples/robstride_wrapper_demo.py \
  --channel can0 --model rs-00 --motor-id 2 --feedback-id 0xFD \
  --mode pos-vel --pos 1.5 --vlim 1.0 --loc-kp 5.0 --loop 1 --dt-ms 20

# RobStride wrapper demo: velocity
python3 bindings/python/examples/robstride_wrapper_demo.py \
  --channel can0 --model rs-00 --motor-id 2 --feedback-id 0xFD \
  --mode vel --vel 0.3 --loop 40 --dt-ms 50

Notes

• id-dump is a Damiao workflow; id-set supports Damiao and RobStride; scan supports damiao|hexfellow|myactuator|robstride|hightorque|all.
• For RobStride id-set, --new-motor-id changes device_id; --feedback-id remains the host-side ID.
• RobStride motor_id / device_id is validated as 1..255; feedback_id / host_id is validated as 0..255 to prevent silent ctypes truncation.
• RobStride scan probes each --feedback-ids host_id exactly through host-id-specific ABI helpers; invalid host IDs are rejected instead of silently falling back.
• Python CLI and Rust CLI are aligned for the production Damiao and RobStride workflows: scan, enable/disable, control, ID update, parameter read/write, RobStride clear-error, and RobStride active-report. Rust CLI still exposes deeper vendor-specific surfaces for HighTorque/MyActuator/Hexfellow debugging.
• Mode.MIT and send_force_pos are not available for MyActuator in ABI wrapper.
• Hexfellow supports MIT and POS_VEL through ABI wrapper; VEL and FORCE_POS return unsupported.
• Full Damiao tuning reference stays in:
  • DAMIAO_API.md
  • DAMIAO_API.zh-CN.md

PyPI Auto Publish (GitHub Actions)

This repository includes .github/workflows/pypi-publish.yml.

• Tag publish policy:
  • push vX.Y.Z -> publish the same artifacts to both TestPyPI and PyPI
• Manual publish is still available via workflow Python Publish:
  • testpypi (only TestPyPI)
  • pypi (only PyPI)

One-time setup (token mode)

1. Create API token on PyPI and add repository secret PYPI_API_TOKEN.
2. Create API token on TestPyPI and add repository secret TEST_PYPI_API_TOKEN.
3. Keep package version unique for every upload (for example 0.1.6, 0.1.7).