Ethercat gui

[trns1997]

Closes #267
Closes #266
Closes #264

Screencast.from.2025-12-13.22-12-59.webm

This is a very crude POC to see if a gui application is doable. If we want to take this idea further, we will need to rethink the archi (there is none), create clear components based on what we want.

Usage:

pip install PySide6
pip install . # for the latest binding capabilities
python -m tools.ethercat_gui -i enp8s0

[github-actions]

File	Coverage	Lines	Branches
All files	84%	86%	83%	✅
lib/include/kickcat/Error.h	87%	91%	83%	✅
lib/include/kickcat/SBufQueue.h	80%	98%	63%	✅
lib/master/include/kickcat/Bus.h	71%	100%	42%	❌
lib/master/src/Bus.cc	82%	85%	80%	✅
lib/master/src/CoE.cc	79%	87%	72%	✅
lib/master/src/Link.cc	98%	100%	97%	✅
lib/master/src/Prints.cc	95%	95%	95%	✅
lib/slave/src/AbstractESC.cc	90%	100%	81%	✅
lib/slave/src/AbstractEmulatedEEPROM.cc	0%	0%	0%	❌
lib/slave/src/ESMStates.cc	94%	99%	88%	✅
lib/slave/src/ESM.cc	92%	93%	90%	✅
lib/slave/src/PDO.cc	86%	92%	80%	✅
lib/slave/src/EEPROM/EEPROM_factory.cc	0%	0%	100%	❌
lib/slave/src/ESC/EmulatedESC.cc	53%	60%	46%	❌
lib/slave/src/slave/Slave.cc	0%	0%	0%	❌
lib/src/Frame.cc	87%	92%	82%	✅
lib/src/Mailbox.cc	64%	71%	56%	❌
lib/src/SIIParser.cc	93%	95%	91%	✅
lib/src/protocol.cc	95%	94%	97%	✅
lib/src/CoE/EsiParser.cc	90%	93%	87%	✅
lib/src/CoE/OD.cc	99%	99%	100%	✅
lib/src/CoE/mailbox/request.cc	78%	83%	74%	✅
lib/src/CoE/mailbox/response.cc	93%	97%	88%	✅
lib/src/EoE/protocol.cc	0%	0%	0%	❌

Minimum allowed coverage is 75%

Generated by 🐒 cobertura-action against 1c43627

[leducp]

I like the general idea, especially to ease PDO mapping. I would proably use it if I can setup the PDO mapping manullay through the GUI.
The flow I have in mind is like this:

1. add/rm a few SDO to the mapping (with a button 'add' and a field id/subid)
2. apply the mapping and check if it was written successfully
3. try the mapping (because writing OK doesn't mean that the mapping is coherent/valide); if failure, go back to 1.
4. go to SAFE-OP; if failure, go back to 1
5. read/write PDO

Another thing that could be nice is to have a standard GUI for DS402 slaves. So you can select the slave (no need to detect the profile for a starter), go to OP (the app apply a standard PDO configuration - we probably need something configurable with a file to handle various hardware) then enable/disable the motor, apply a torque, go to pos, etc

[trns1997]

I like the general idea, especially to ease PDO mapping. I would proably use it if I can setup the PDO mapping manullay through the GUI. The flow I have in mind is like this:

1. add/rm a few SDO to the mapping (with a button 'add' and a field id/subid)

2. apply the mapping and check if it was written successfully

3. try the mapping (because writing OK doesn't mean that the mapping is coherent/valide);  if failure, go back to 1.

4. go to SAFE-OP;  if failure, go back to 1

5. read/write PDO

Another thing that could be nice is to have a standard GUI for DS402 slaves. So you can select the slave (no need to detect the profile for a starter), go to OP (the app apply a standard PDO configuration - we probably need something configurable with a file to handle various hardware) then enable/disable the motor, apply a torque, go to pos, etc

I rearchitectured and split up the code to make it cleaner to build upon. So i suggest we validate this GUI tool as it is first. And then i will make a bunch on issues based on your requested features, to build them piece by piece. What do you think?

[leducp]

I like the general idea, especially to ease PDO mapping. I would proably use it if I can setup the PDO mapping manullay through the GUI. The flow I have in mind is like this:

1. add/rm a few SDO to the mapping (with a button 'add' and a field id/subid)

2. apply the mapping and check if it was written successfully

3. try the mapping (because writing OK doesn't mean that the mapping is coherent/valide);  if failure, go back to 1.

4. go to SAFE-OP;  if failure, go back to 1

5. read/write PDO

Another thing that could be nice is to have a standard GUI for DS402 slaves. So you can select the slave (no need to detect the profile for a starter), go to OP (the app apply a standard PDO configuration - we probably need something configurable with a file to handle various hardware) then enable/disable the motor, apply a torque, go to pos, etc

I rearchitectured and split up the code to make it cleaner to build upon. So i suggest we validate this GUI tool as it is first. And then i will make a bunch on issues based on your requested features, to build them piece by piece. What do you think?

OK, let's do that