How tejavadlamudi03/motor-hmi works
Motor HMI is a secure desktop operator and engineering application for moteus and ST motor controllers, with a separate simulator and optional mobile monitoring. The operator signs in, selects a controller and transport, connects, then monitors or performs control and engineering tasks; the worker executes the control loop and returns telemetry to the UI. The graph also preserves documented safety, configuration, filtering, calibration, firmware, audit, and mobile capabilities. Some feature-tab and worker internals were not excerpted, so their links rely on README or indexed references.
Main entry points: main_window.py Main window · bus_worker.py Control worker · app.py Application startup · context.py Shared context
Components 25
Operator interface
- Application startup
moteus_hmi/app.py - Sign-in
moteus_hmi/ui/login.py - Main window
moteus_hmi/ui/main_window.py - Connection panel
moteus_hmi/ui/connection_panel.py - Shared context
moteus_hmi/ui/context.py - Bus and devices
moteus_hmi/ui/tabs/bus_tab.py
Control runtime
- Control worker
moteus_hmi/core/bus_worker.py - Controller profiles
moteus_hmi/core/controllers.py - Moteus driver
moteus_hmi/core/moteus_backend.py - ST serial driver
moteus_hmi/core/st_mcsdk_backend.py - Motor data types
moteus_hmi/core/types.py - Safety supervision
moteus_hmi/core/safety.py
Engineering features
- Calibration
moteus_hmi/ui/tabs/calibration_tab.py - Tuning
moteus_hmi/ui/tabs/tuning_tab.py - Parameters
moteus_hmi/ui/tabs/params_tab.py - Feedback filters
moteus_hmi/core/filters.py - Step analysis
moteus_hmi/core/analysis.py
Security and records
- Users and roles
moteus_hmi/security/auth.py - Install keys
moteus_hmi/security/keystore.py - Audit trail
moteus_hmi/security/audit.py
Simulation and mobile
- Mobile server
moteus_hmi/remote/mobile_server.py - Motor simulator
moteus_hmi/sim/canfd_sim.py - Motor plant
moteus_hmi/sim/plant.py
Other components
- Operator
- Mobile viewer
Connections 25
- Operator → Application startup: starts
README.md - Application startup → Sign-in: opens
moteus_hmi/app.py - Application startup → Main window: creates
moteus_hmi/app.py - Operator → Connection panel: selects link
README.md - Main window → Connection panel: hosts
moteus_hmi/ui/main_window.py - Main window → Shared context: uses
moteus_hmi/ui/main_window.py - Shared context → Control worker: dispatches requests
moteus_hmi/ui/context.py - Connection panel → Controller profiles: selects profile
moteus_hmi/ui/connection_panel.py - Controller profiles → Moteus driver: creates driver
moteus_hmi/core/controllers.py - Controller profiles → ST serial driver: creates driver
moteus_hmi/core/controllers.py - Control worker → Safety supervision: enforces limits
README.md - Control worker → Feedback filters: filters feedback
README.md - Control worker → Motor data types: exchanges data
moteus_hmi/core/bus_worker.py - Main window → Bus and devices: shows devices
moteus_hmi/ui/main_window.py - Main window → Calibration: opens feature
moteus_hmi/ui/main_window.py - Main window → Tuning: opens feature
moteus_hmi/ui/main_window.py - Main window → Parameters: opens feature
moteus_hmi/ui/main_window.py - Control worker → Step analysis: runs step tests
moteus_hmi/core/bus_worker.py - Application startup → Users and roles: loads accounts
moteus_hmi/app.py - Application startup → Install keys: initializes keys
moteus_hmi/app.py - Shared context → Audit trail: records actions
moteus_hmi/ui/context.py - Main window → Mobile server: starts service
moteus_hmi/ui/main_window.py - Mobile viewer → Mobile server: views status
README.md - Motor simulator → Motor plant: simulates dynamics
moteus_hmi/sim/canfd_sim.py - Motor simulator → Control worker: emulates CAN bus
README.md