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Source: CHANGELOG.md + docs: dm-device runtime commits

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MotorBridge 0.4.3 Release Test Note

Date: 2026-06-03

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Summary

Introduces the Damiao dm-device transport backed by the DaMiao DM_Device SDK (USB2CANFD, USB2CANFD_DUAL, LINKX4C). The largest transport addition since the v0.3 line.

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Version Alignment

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Key Changes

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Added

  • Damiao dm-device transport backed by DaMiao DM_Device SDK (USB2CANFD, USB2CANFD_DUAL, LINKX4C). Adapter must be in USB mode; Damiao protocol only.
  • Vendored DM_Device SDK runtime under third_party/dm_device (Linux/macOS/Windows libraries).
  • DmDeviceBus in motor_core and a C++ SDK shim exposing a stable C ABI.
  • Rust CLI flags --transport dm-device, --dm-device-type, --dm-channel. usb2canfd uses 0; usb2canfd-dual uses 0/1; linkx4c uses 0..3.
  • ABI constructor motor_controller_new_dm_device(...).
  • Python Controller.from_dm_device(...) and Python CLI --transport dm-device.
  • Python DM_Device runtime resolver and motorbridge-install-dm-device helper. Wheels do not embed the vendor runtime; the resolver prints the required file, GitHub download URL, cache/source-tree paths, and platform ABI requirements.
  • WebSocket gateway dm-device support for Damiao, including dm_device_type and dm_channel target fields.

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Fixed

  • Aligned Damiao dm-device scans in Rust CLI, Python CLI, and WebSocket gateway to use the stable feedback request path.
  • Updated dm-device scan semantics: omitting --dm-channel / dm_channel scans every channel for the selected adapter; specifying a channel restricts the scan to one physical channel.
  • Changed Python wheel packaging to omit libdm_device.so/.dylib/.dll by default to avoid Linux manylinux auditwheel failures.
  • Added readback verification for WebSocket Damiao register writes.
  • Softened Damiao WebSocket mode/register confirmation timeouts.
  • Fixed Linux aarch64 CI builds via the matching C++ cross compiler.
  • Restricted Windows DM_Device runtime selection to x86_64.

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Verified

  • Runtime ABI requirements documented (Linux x86_64/aarch64).
  • Verified USB2CANFD_DUAL channel 0/1 and LINKX4C channel 0..3 scan paths on Linux x86_64 when the matching DM_Device runtime is available.

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See Also