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All notable changes to this project will be documented in this file. The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

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[Unreleased]

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[0.4.1] - 2026-06-02

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Added

  • Added ABI metadata entrypoints motor_abi_version() and motor_abi_capabilities_json() so tools, gateways, and language bindings can discover the loaded ABI version and supported transports/vendors/features.
  • Added Python metadata helpers motorbridge.abi_version() and motorbridge.abi_capabilities().
  • Added C++ metadata helpers motorbridge::abi_version() and motorbridge::abi_capabilities_json().
  • Added bindings/api_surface.json as the canonical binding/API surface list used to keep ABI, Python, C++, and documentation aligned.
  • Added API surface regression coverage for the binding parity metadata.

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Changed

  • Completed C++ wrapper parity with Python for RobStride helper methods: robstride_ping_host_id, robstride_get_param_f32_host_id, robstride_get_fault_report, and robstride_set_active_report.
  • Added C++ RobStride ID range validation to match Python binding behavior.
  • Python package version advanced to 0.4.1.
  • Rust workspace package version advanced to 0.4.1 for release/tag alignment.
  • C++ package metadata advanced to 0.4.1.

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[0.4.0] - 2026-06-02

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Added

  • Added WebSocket gateway damiao_state_many for Damiao multi-joint state reads, so browser HMIs can refresh every discovered joint in one logical request over dm-serial.
  • Added Damiao state identity fields (motor_id, feedback_id, model) to gateway state snapshots, allowing clients to merge whole-arm telemetry by joint instead of treating all feedback as the active target.
  • Added capability discovery for the Damiao multi-state operation.

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Fixed

  • Fixed Windows Damiao dm-serial whole-arm scans in the WebSocket gateway by releasing active Damiao sessions and stopping state/parameter streams before scan probes reuse the serial port.
  • Fixed stale Damiao state reads by requesting fresh feedback with a bounded timeout before returning gateway state snapshots.
  • Fixed param_stream enabled=false so disabling the stream no longer opens or reopens hardware sessions.
  • Fixed RobStride scan/session release handling to keep the same scan-safe behavior introduced for Windows PCAN.

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Changed

  • Python package version advanced to 0.4.0.
  • Rust workspace package version advanced to 0.4.0 for release/tag alignment.
  • C++ package metadata advanced to 0.4.0.

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[0.3.9] - 2026-05-26

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Fixed

  • Changed RobStride handling of the unified request_feedback() ABI call to a non-blocking no-op instead of issuing a blocking ping.
  • Avoided misleading RobStride state semantics: ping replies do not synthesize MotorState, so request_feedback() -> get_state() no longer appears to refresh state when it cannot.
  • Documented the correct RobStride state-query choices: use robstride_ping() for connectivity checks, active report for streaming state, or typed parameter reads for fresh position/velocity values.

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Changed

  • Python package version advanced to 0.3.9.
  • Rust workspace package version advanced to 0.3.9 for release/tag alignment.
  • C++ package metadata advanced to 0.3.9.

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[0.3.8] - 2026-05-26

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Added

  • Added RobStride-specific pos-vel-pp and pos-vel-csp control paths that follow the vendor manual sequences for PP and CSP position modes.
  • Added C ABI and Python binding entrypoints for robstride_send_pos_vel_pp() and robstride_send_pos_vel_csp().
  • Added Python CLI and Rust CLI support for RobStride pos-vel-pp and pos-vel-csp.
  • Added robstride_posvel_timing_demo.py to compare legacy pos-vel, PP, and CSP timing, including full-sequence and prepared high-rate profiles.
  • Added documentation and Python code examples for RobStride PP/CSP usage and high-rate loc_ref loops.

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Fixed

  • Removed the default 260 ms blocking wait from RobStride communication type 18 parameter writes; set MOTORBRIDGE_ROBSTRIDE_WRITE_ACK_TIMEOUT_MS to restore conservative synchronous waiting.
  • Clarified the difference between RobStride full manual PP/CSP sequences and high-rate prepared loops so users do not pay an enable ack wait every control cycle.

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Changed

  • Python package version advanced to 0.3.8.
  • Rust workspace package version advanced to 0.3.8 for release/tag alignment.
  • C++ package metadata advanced to 0.3.8.

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[0.3.7] - 2026-05-21

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Fixed

  • Fixed Python CLI RobStride scans on Windows PCAN by probing one host/feedback ID at a time, avoiding multiple active controllers and receive workers on the same CAN channel.
  • Fixed Python CLI RobStride scan cleanup so unbound probe controllers are not asked to close_bus(), removing the misleading controller has no motor error after scan results.
  • Fixed Python CLI RobStride single-host scans to print hit and no reply lines in probe order, so operators can see 0x01, 0x02, 0x03, … live instead of seeing missed IDs only after the full scan completes.
  • Fixed WebSocket gateway RobStride scans to probe each requested host/feedback ID exactly and sequentially, use request-level channel and model, avoid appending unrelated default feedback IDs, and clamp default probe timing for Windows PCAN reliability.
  • Fixed Windows WebSocket gateway RobStride repeated scans by releasing any active RobStride session before scan probes and adding a short PCAN release gap after scan close_bus().
  • Fixed PCAN error reporting to include names for PCAN_ERROR_INITIALIZE and PCAN_ERROR_ILLHW.

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Added

  • Added Python scan regression coverage for the single-controller RobStride probing behavior.
  • Added optional MOTORBRIDGE_WS_DEBUG=1 connection logs for gateway TCP accept and WebSocket handshake diagnostics.
  • Added the WebSocket gateway capabilities operation so MotorBridge Studio can discover batch scan support instead of falling back to legacy per-ID frontend probing.
  • Added the WebSocket gateway batch_scan operation for Studio compatibility.
  • Added live WebSocket scan_progress events for RobStride scans with start, probe, hit, no_reply, and done phases while preserving the final scan response.

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Changed

  • Python package version advanced to 0.3.7.
  • Rust workspace package version advanced to 0.3.7 for release/tag alignment.
  • C++ package metadata advanced to 0.3.7.

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[0.3.6] - 2026-05-21

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Fixed

  • Fixed Python CLI RobStride scans on Windows PCAN by probing one host/feedback ID at a time, avoiding multiple active controllers and receive workers on the same CAN channel.

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[0.3.5] - 2026-05-20

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Added

  • Added CoreController drop-time polling cleanup so background receive workers stop even when callers forget to call shutdown() or close_bus().
  • Added RobStride MIT encoding regression tests proving all five unified MIT inputs (pos, vel, kp, kd, tau) are encoded into the native control frame.
  • Added workspace lint inheritance for all Rust crates while keeping the active lint set aligned with strict CI.

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Fixed

  • Hardened C ABI controller and motor handles with per-handle locking, removing same-handle concurrent-call undefined behavior while preserving the public ABI function names and signatures.
  • Fixed Python binding closed-handle guards so motor methods consistently raise CallError instead of passing null pointers into the ABI.
  • Fixed unbound controller operations to return a clear error instead of silently succeeding before any motor is added.
  • Fixed Python RobStride scan efficiency by opening one controller per feedback_id candidate instead of reopening the CAN socket for every (motor_id, feedback_id) probe.
  • Fixed Damiao register type error messages so write_register_f32() reports expects float and write_register_u32() reports expects uint32.
  • Fixed CI compatibility with newer Clippy for the WebSocket handshake callback.

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Changed

  • Split the Python CLI implementation from one large cli.py file into the motorbridge.cli package while preserving public entrypoints: motorbridge.cli:main, python -m motorbridge.cli, python -m motorbridge, and legacy flat run arguments.
  • Clarified open_can_bus() as the cross-platform classic-CAN backend selector; open_socketcan() remains available as a compatibility alias.
  • Python package version advanced to 0.3.5.
  • Rust workspace package version advanced to 0.3.5 for release/tag alignment.
  • C++ package metadata advanced to 0.3.5.

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[0.3.4] - 2026-05-20

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Added

  • Added a detailed Chinese WebSocket gateway protocol manual covering every JSON op, parameters, defaults, vendor applicability, responses, and browser usage examples.
  • Added RobStride Rust/Python CLI manual test commands for read/write/readback, optional store, active-report, clear-error, control smoke tests, and ID update workflows.
  • Added regression coverage for RobStride parameter save responses that return a non-status device reply.

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Fixed

  • Fixed ws_gateway set_id so Damiao --transport dm-serial is honored instead of accidentally opening the SocketCAN/PCAN path.
  • Improved Damiao ensure_control_mode() so an initial register-10 read timeout no longer prevents writing the requested mode; write verification now retries.
  • Fixed RobStride save_parameters() to accept valid device replies after communication type 22, avoiding false control ack timeout: comm_type=22 errors after a parameter was already written and read back successfully.
  • Fixed strict Clippy failures across motor_core, motor_cli, motor_vendor_robstride, and ws_gateway.

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Changed

  • Python package version advanced to 0.3.4.
  • Rust workspace package version advanced to 0.3.4 for release/tag alignment.

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[0.3.3] - 2026-05-19

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Added

  • Added -v / --version output to the Rust CLI and Python CLI.
  • Added Python binding version helpers: motorbridge.__version__ and motorbridge.get_version().
  • Added --store 1 to Python robstride-write-param and damiao-write-param subcommands for unified write, verify, and persist workflows.
  • Added Rust CLI Damiao read-param / write-param support with matching --type, --verify, and --store semantics.

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Fixed

  • Python CLI now disables argparse long-option abbreviation for the root parser, subcommands, and legacy run parser. Invalid options such as --mode save on robstride-write-param are rejected instead of being misparsed as --model save.
  • RobStride save_parameters() now waits for the protocol status ACK after sending communication type 22.

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Changed

  • Python package version advanced to 0.3.3.
  • Rust workspace package version advanced to 0.3.3 for release/tag alignment.

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[0.3.2] - 2026-05-18

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Added

  • Added RobStride fault-report diagnostics to the C ABI and Python SDK via motor_handle_robstride_get_fault_report / Motor.robstride_get_fault_report().
  • Python CLI state printing now includes non-zero RobStride fault_raw and warning_raw values.

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Fixed

  • RobStride FAULT_REPORT frames no longer overwrite the latest motion state. Fault reports now update only the fault cache, so fault payloads are not exposed as bogus -720 deg / -50 rad/s / 0 C feedback.
  • RobStride FAULT_REPORT frames no longer advance the control status ACK sequence, avoiding false command acknowledgements.
  • RobStride clear_error() clears the local cached fault report only after the device acknowledges the clear request.

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Changed

  • Python package version advanced to 0.3.2.
  • Rust workspace package version advanced to 0.3.2 for release/tag alignment.

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[0.3.1] - 2026-05-15

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Fixed

  • Python CLI RobStride mit, pos-vel, and vel now align their control startup sequence with the Rust CLI and WebSocket gateway: disable torque, set and verify run_mode via 0x7005, re-enable torque, then send targets. This fixes cases where direct Python CLI pos-vel could enable the motor but fail to move until a Rust CLI or gateway scan/control path had prepared the mode.

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Changed

  • Python package version advanced to 0.3.1.
  • Rust workspace package version advanced to 0.3.1 for release/tag alignment.

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[0.3.0] - 2026-05-15

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Added

  • RobStride clear-fault support is now exposed through the unified clear-error path. motor_handle_clear_error sends RobStride communication type 4 with data[0]=1.
  • RobStride active-report support is now exposed across Rust CLI, Python CLI/SDK, ABI, and WebSocket gateway.
  • New ABI symbol: motor_handle_robstride_set_active_report.
  • New Python SDK method: Motor.robstride_set_active_report(enabled).
  • New WS gateway operation: {"op":"set_active_report","enabled":true}.
  • RobStride communication type 21 fault reports are decoded into raw fault/warning words plus documented fault and warning bits for diagnostics.

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Documentation

  • Added RobStride bring-up notes for EPScan_time(0x7026), including EPScan_time=3 as the recommended initial 20 ms report interval for arm calibration.
  • Added CLI, Python, ABI, and WS examples for RobStride clear-error and active-report.

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[0.2.9] - 2026-05-14

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Added

  • Python CLI now exposes Damiao parameter/register read and write commands: damiao-read-param and damiao-write-param.
  • Python CLI run now accepts Rust-style RobStride parameter modes: --mode read-param, --mode write-param, and --mode save.
  • Python CLI run now accepts Rust-style ID update shortcuts: --set-motor-id, --set-feedback-id, --verify-id, and Damiao model verification options.

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Fixed

  • Legacy Python CLI flat commands such as motorbridge-cli --vendor robstride ... are parsed as run commands instead of being rejected as invalid subcommands.
  • Python CLI RobStride pos-vel now follows the same native register path as the WS gateway (limit_spd 0x7017, loc_kp 0x701E, loc_ref 0x7016).
  • RobStride and Damiao Python CLI documentation was aligned with the Rust CLI and binding behavior.

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Changed

  • Python binding package version advanced to 0.2.9.
  • Rust workspace crates advanced to 0.2.9.

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[0.2.8] - 2026-05-12

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Fixed

  • Restored the MotorBridge tree to the v0.2.6-compatible unified RobStride interface shape.
  • Completed the RobStride protocol section 4 runtime parameter list through 0x702E, including damper, add_offset, alveolous_open, iq_test, and dcc_set.
  • RobStride set_zero_position() now keeps the same upper-level command/API shape while writing zero_sta(0x7029)=1 behind the scenes so zeroed motors use the -pi..pi startup coordinate range.
  • RobStride parameter save now sends the official type-22 payload 01 02 03 04 05 06 07 08.

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Changed

  • Python binding package version advanced to 0.2.8.
  • Rust workspace crates advanced to 0.2.8.

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[0.2.6] - 2026-05-09

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Added

  • RobStride host-id-specific ABI helpers for exact scan probing from Python: motor_handle_robstride_ping_host_id and motor_handle_robstride_get_param_f32_host_id.
  • Python SDK wrappers robstride_ping_host_id(...) and robstride_get_param_f32_host_id(...).
  • Release test note release_test_notes/0.2.6.md covering Rust core/CLI, Python binding/CLI, package smoke checks, and full RobStride/Damiao CLI command examples.

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Changed

  • RobStride motor_id / device_id is now validated as 1..255; feedback_id / host_id is validated as 0..255 across core, Rust CLI, Python SDK/CLI, and websocket gateway flows.
  • Rust and Python RobStride scan now probe each listed --feedback-ids host ID exactly instead of silently falling back inside each candidate probe.
  • RobStride parameter response filtering now requires the response device_id to match the target motor, reducing cross-talk risk on multi-motor buses.
  • The embedded bindings/python/mintlify documentation copy was removed; canonical Mintlify docs now live in the sibling motorbridge-docs repository.

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[0.2.5] - 2026-05-09

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Added

  • Python CLI id-set --vendor robstride now supports RobStride device ID updates with optional store and verify.
  • Rust motor_cli accepts Python-style bare mode shorthand, for example motor_cli scan --vendor robstride ....
  • Rust RobStride scan now accepts --feedback-ids, --timeout-ms, --param-id, and --param-timeout-ms, matching the Python scan entrypoint.

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Changed

  • RobStride scan output and documentation now consistently distinguish motor device_id / probe from host-side feedback_id / host_id.
  • Python and Rust RobStride scan defaults are aligned around host ID candidates 0xFD,0xFF,0xFE,0x00,0xAA.

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[0.2.3] - 2026-04-16

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Changed

  • Refactored ABI FFI layers to reduce duplicated controller/motor dispatch boilerplate via shared macros and helpers.
  • Consolidated vendor parameter FFI entrypoints (Hexfellow/HighTorque/MyActuator/RobStride) with shared macro-generated get/write wrappers.
  • Aligned runtime/control-path robustness fixes across motor core, vendor controllers, Python bindings, and websocket gateway integration.

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[0.1.3] - 2026-03-24

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Added

  • New practical Damiao guide:
    • examples/damiao_controll_all_in_one.md
    • includes one-page command bundles for:
      • CLI four core modes (mit, pos-vel, vel, force-pos)
      • C/C++ ABI examples
      • Python ctypes ABI examples
      • Python bindings examples
      • C++ bindings examples

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Changed

  • Damiao CLI runtime output (motor_cli/src/damiao_cli.rs) now prints richer realtime fields:
    • id, arbitration_id, status_name
    • temperatures t_mos, t_rotor
    • mode-aware command/target context and tracking errors
      • MIT: cmd_pos/cmd_vel/kp/kd/cmd_tau/e_pos/e_vel
      • POS_VEL: cmd_pos/vlim/e_pos
      • VEL: cmd_vel/e_vel
      • FORCE_POS: cmd_pos/vlim/ratio/e_pos

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[0.1.2] - 2026-03-23

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Changed

  • Release version bump from 0.1.1 to 0.1.2 for clean tag progression.
  • Damiao dm-serial documentation rollout remains aligned across:
    • CLI README (full interface section)
    • root README
    • bindings/examples/integrations/tools related READMEs.

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[0.1.1] - 2026-03-23

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Added

  • Damiao serial-bridge transport (dm-serial) for unix-like systems:
    • CLI transport selection: --transport auto|socketcan|dm-serial
    • Serial options: --serial-port, --serial-baud
    • Damiao controller serial constructor and transport runtime wiring.
  • C ABI constructor for Damiao serial bridge:
    • motor_controller_new_dm_serial(serial_port, baud)
  • SDK support for Damiao serial bridge:
    • Python: Controller.from_dm_serial(...)
    • C++: Controller::from_dm_serial(...)
  • New Chinese operation manual for deployment/runtime usage:
    • docs/zh/operation_manual.md

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Changed

  • README alignment across examples/bindings/integrations/tools:
    • All Damiao-related READMEs now mention dm-serial availability.
    • Added explicit pointer to complete interface/command section in motor_cli/README.zh-CN.md (3.6) and motor_cli/README.md.

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[0.1.0] - 2026-03-20

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Added

  • Linux CANable candleLight/gs_usb quick guide in root README (EN/ZH), including candleLight/gs_usb setup and --channel can0 usage examples.
  • Channel quick reference in motor_cli/README.md and motor_cli/README.zh-CN.md covering:
    • Linux SocketCAN channels (can0, can1) and Linux rule “no @bitrate in channel name”
    • Windows PCAN channel mapping (can0/can1) with optional @bitrate

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Changed

  • CLI startup summary now distinguishes scan semantics from control semantics:
    • --mode scan prints model_hint, base_feedback_id, and scan_range
    • defaults are explicitly tagged as (default) to reduce confusion

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Fixed

  • RobStride frame filtering now only accepts status/fault frames from the target motor ID, preventing cross-device state pollution on shared CAN buses.
  • Architecture Mermaid diagrams (EN/ZH) now include myactuator branch for consistency with workspace/runtime layout.

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Usage

  • Linux CANable candleLight/gs_usb setup and examples:
    • README.md / README.zh-CN.md section: “Linux CANable candleLight/gs_usb Quick Guide”
  • Channel compatibility and parameter rules:
    • motor_cli/README.md / motor_cli/README.zh-CN.md section: “Channel Quick Reference”