Skip to main content
Source: release_test_notes/0.4.0.md

​
MotorBridge 0.4.0 Release Test Note

Date: 2026-06-02

​
Summary

Fixes Damiao dm-serial whole-arm scanning and telemetry through the WebSocket gateway, especially on Windows. Adds damiao_state_many for multi-joint browser telemetry.

​
Version Alignment

​
Key Changes

​
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.
  • Damiao state identity fields (motor_id, feedback_id, model) in gateway state snapshots, allowing clients to merge whole-arm telemetry by joint.
  • Capability discovery for the Damiao multi-state operation.

​
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.

​
See Also