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Layered View

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Runtime Control Flow

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Design Goal

motorbridge separates generic control infrastructure from vendor-specific protocol logic.
  • Core should be reusable across vendors.
  • Vendor crates should contain protocol/register/model differences.
  • ABI should expose stable cross-language entry points.

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Repository Layout

motorbridge/
├── motor_core/                  # Vendor-agnostic runtime
├── motor_vendors/
│   ├── damiao/                  # Production implementation
│   ├── robstride/               # Production implementation (extended CAN ID / params)
│   ├── myactuator/              # Production implementation (RMD protocol)
│   ├── hightorque/              # Production implementation (ht_can protocol)
│   ├── hexfellow/               # Production implementation (CANopen over CAN-FD)
│   └── template/                # Scaffold for new vendors
├── motor_cli/                   # Rust CLI
├── motor_abi/                   # C ABI (cdylib + staticlib)
├── integrations/
│   ├── ros2_bridge/             # ROS2 bridge
│   └── ws_gateway/              # Rust WebSocket gateway
├── bindings/
│   ├── python/                 # Python SDK package + CLI
│   └── cpp/                    # C++ RAII wrapper + CMake package
├── examples/                    # C/C++/Python demo programs
└── docs/
    ├── en/
    └── zh/

Separate repo:
- `motorbridge-studio/`          # Web control UI extracted from `tools/factory_calib_ui_ws`

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Core Layers

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1) motor_core

  • bus.rs: CAN bus abstraction
  • device.rs: unified MotorDevice trait
  • controller.rs: scheduling/routing/polling
  • model.rs: model catalog abstraction
  • socketcan.rs: Linux classic SocketCAN backend
  • socketcanfd.rs: Linux dedicated SocketCAN-FD backend
  • pcan.rs: Windows PEAK PCAN backend (experimental)

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2) motor_vendors/*

Each vendor crate implements:
  • frame encode/decode
  • register semantics
  • motor model limits
  • controller facade wrapping CoreController

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3) motor_abi

  • exports C-compatible handles and functions
  • wraps Rust errors into integer return code + motor_last_error_message()
  • enables C/C++/Python/etc integration

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4) SDK/Examples

  • motor_cli: operational/debugging command-line tool
  • bindings/python: reusable Python package for deployment/integration
  • bindings/cpp: reusable C++ RAII wrapper for deployment/integration
  • examples/*: minimal cross-language ABI usage references

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Lifecycle Policy

Controller lifecycle is explicit:
  • Use motor_controller_shutdown when you want an explicit stop/disable flow.
  • Use motor_controller_close_bus when you only want to close local session/bus.
  • motor_controller_free now only releases memory/objects.