Windows Distribution and SDK Usage

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Channel Compatibility (PCAN + slcan + Damiao Serial Bridge)

• Linux SocketCAN uses interface names directly: can0, can1, slcan0.
• For USB-serial CAN adapters, bring up slcan0 first: sudo slcand -o -c -s8 /dev/ttyUSB0 slcan0 && sudo ip link set slcan0 up.
• Damiao-only serial bridge transport is also available in CLI (--transport dm-serial --serial-port /dev/ttyACM0 --serial-baud 921600).
• 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.

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Artifact Matrix

• Python users:
  • install .whl (motorbridge-<ver>-cp3xx-...-win_amd64.whl)
• C/C++ users:
  • use ABI .zip (motorbridge-abi-<ver>-windows-x86_64.zip)
• Linux-only package:
  • .deb is for Ubuntu/Linux and is not installable on Windows
• MSI:
  • optional convenience installer, not required for SDK usage

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Runtime Dependencies

• PEAK PCAN driver installed
• PCANBasic.dll available from PCAN-Basic runtime

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Build Windows ABI Locally

cargo build -p motor_abi --release

• target/release/motor_abi.dll
• target/release/motor_abi.lib

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Build Windows Python Wheel Locally

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

• The wheel build now embeds the ABI DLL automatically.
• If the ABI DLL cannot be found, wheel build fails fast with a clear error.

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Install and Verify Python SDK

python -m pip install bindings/python/dist/motorbridge-*.whl
python -c "from motorbridge import Controller; c=Controller('can0@1000000'); print('ok'); c.close()"

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Install and Verify C/C++ ABI

1. Download motorbridge-abi-<ver>-windows-x86_64.zip.
2. Extract include/lib to your dependency folder.
3. Link motor_abi.dll + import lib in your project.

import ctypes
lib = ctypes.CDLL("motor_abi.dll")
lib.motor_controller_new_socketcan.argtypes = [ctypes.c_char_p]
lib.motor_controller_new_socketcan.restype = ctypes.c_void_p
ptr = lib.motor_controller_new_socketcan(b"can0@1000000")
assert ptr
lib.motor_controller_free(ptr)

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Channel and Bitrate Conventions on Windows

• can0 maps to PCAN_USBBUS1
• can1 maps to PCAN_USBBUS2
• Add bitrate as suffix: can0@1000000

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Recommended Validation Commands

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