Biobot_Robot_Arm_Tester

This test software is a comprehensive serial communication application for testing BioBot robot arms. Here's main features:

Key Components

• Serial Communication Management: Handles connection/disconnection to serial ports with automatic port refreshing
• Robot Control Commands: Implements various predefined commands for robot control and diagnostics
• Target Nodes Monitoring (0xBF): Tracks per-node packet count and detects sequence gaps (loss).
• MCU Support Monitoring (0xBC): Monitors MCU-level CAN RX (filtered for 0xBF frames) and UART TX statistics.
• Auto-Stop: The test automatically terminates when all target nodes report completion (via 0xBD notification).
• Safety: Automatically restores MCU periodic updates on exit or test stop.
• Data Visualization: Provides ADC to physical value mapping with real-time chart updates

Main Functionalities

1. Node Detection System:

   • Automatically scans for connected nodes (2-13)
   • Maintains node status and response times
   • Visualizes node connectivity in a table format

2. ZPOSS Sensor Handling:

   • Decodes ZPOSS sensor data from raw ADC values
   • Provides real-time plotting of ADC vs physical values
   • Supports periodic data sending with configurable intervals

3. MCU Version Management:

   • Queries and displays MCU firmware version on connection
   • Parses version information from UART responses

4. Data Visualization:

• Real-time scatter plot for ADC/physical value mapping
• Dynamic plot updates during periodic data collection
• Configurable plot window with start/stop controls

5. Communication Data Monitor:
   • Real-time Health Monitoring: Tracks per-node packet count and detects sequence gaps/frame loss using 0x BF test frames.
   • Pre-Test Sequential Validation: Automatically verifies node readiness by querying firmware versions sequentially (50ms interval) before starting tests. Aborts safely if any node is unresponsive.
   • MCU Hardware Statistics: Monitors low-level MCU performance (CAN Rx, UART Tx/Rx) via 0xBC polling.
   • Auto-Stats Synchronization: Automatically fetches terminal statistics upon manual stop or test completion for perfectly synchronized counts.
   • Diagnostic Reporting: Exports detailed Google Test (gTest) style reports including test conditions, node versions, and cumulative statistics.
   • Path Failure Analysis: Intelligent diagnostic logic distinguishes between CAN Transmission failure and UART Communication loss based on hardware vs. software counters.
   • Configurable Stress Testing: Supports customized node masks, frame counts, and intervals (ms) for performance profiling.

Technical Implementation

• Uses PyQt6 for GUI components and event handling
• Implements matplotlib for data visualization
• Employs pyserial for serial communication
• Features multithreading for periodic operations
• Includes comprehensive error handling and logging

The application serves as a diagnostic tool for BioBot robot arm systems, enabling developers to monitor, control, and troubleshoot the robotic system through serial communication.

Create executable file from Python script

In Python project root directory from Terminal when using PyCharm IDE , run: pyinstaller --noconfirm --onefile --windowed --name RobotArmTest --add-data "resources/biobot_logo.png;resources" --icon=resources/biobot_robot_arm.ico main.py