ardupilot-methodic-configurator 2.5.0__py3-none-any.whl → 2.6.0__py3-none-any.whl

ardupilot_methodic_configurator/frontend_tkinter_motor_test.py

@@ -0,0 +1,853 @@
+"""
+GUI for motor test functionality.
+
+This file implements the Tkinter frontend for the motor test sub-application following
+the Model-View separation pattern defined in ARCHITECTURE_motor_test.md.
+
+The MotorTestView class provides:
+- Safety warnings and parameter configuration controls
+- Frame type selection and motor diagram display
+- Individual and sequential motor testing controls
+- Real-time battery status monitoring
+- SVG diagram rendering
+
+MotorTestWindow class provides a standalone window for development/testing.
+
+This file is part of Ardupilot methodic configurator. https://github.com/ArduPilot/MethodicConfigurator
+
+SPDX-FileCopyrightText: 2024-2025 Amilcar do Carmo Lucas <amilcar.lucas@iav.de>
+
+SPDX-License-Identifier: GPL-3.0-or-later
+"""
+
+import time
+import tkinter as tk
+from argparse import ArgumentParser, Namespace
+from functools import partial
+from logging import debug as logging_debug
+from logging import error as logging_error
+from logging import info as logging_info
+from logging import warning as logging_warning
+from tkinter import Frame, Label, ttk
+from tkinter.messagebox import askyesno, showerror, showwarning
+from tkinter.simpledialog import askfloat
+from typing import Callable, Optional, Union
+
+from ardupilot_methodic_configurator import _
+from ardupilot_methodic_configurator.__main__ import (
+    ApplicationState,
+    initialize_flight_controller_and_filesystem,
+    setup_logging,
+)
+from ardupilot_methodic_configurator.common_arguments import add_common_arguments
+from ardupilot_methodic_configurator.data_model_motor_test import (
+    DURATION_S_MAX,
+    DURATION_S_MIN,
+    THROTTLE_PCT_MAX,
+    THROTTLE_PCT_MIN,
+    FrameConfigurationError,
+    MotorTestDataModel,
+    MotorTestExecutionError,
+    MotorTestSafetyError,
+    ParameterError,
+    ValidationError,
+)
+from ardupilot_methodic_configurator.frontend_tkinter_base_window import (
+    BaseWindow,
+)
+from ardupilot_methodic_configurator.frontend_tkinter_pair_tuple_combobox import PairTupleCombobox
+from ardupilot_methodic_configurator.frontend_tkinter_progress_window import ProgressWindow
+from ardupilot_methodic_configurator.frontend_tkinter_scroll_frame import ScrollFrame
+
+
+class DelayedProgressCallback:  # pylint: disable=too-few-public-methods
+    """A callback wrapper that delays the first progress update by a specified time."""
+
+    def __init__(self, original_callback: Callable[[int, int], None], delay_seconds: float) -> None:
+        """
+        Initialize the delayed callback.
+
+        Args:
+            original_callback: The original callback function to wrap
+            delay_seconds: Time in seconds to delay before showing progress
+
+        """
+        self.original_callback = original_callback
+        self.delay_seconds = delay_seconds
+        self.first_call_time: Optional[float] = None
+
+    def __call__(self, current: int, total: int) -> None:
+        """Execute the callback with delay logic."""
+        if self.first_call_time is None:
+            self.first_call_time = time.time()
+
+        # Only call the original callback if enough time has passed since the first call
+        elapsed_time = time.time() - self.first_call_time
+        if elapsed_time >= self.delay_seconds:
+            self.original_callback(current, total)
+
+
+class MotorTestView(Frame):  # pylint: disable=too-many-instance-attributes
+    """GUI for motor test functionality."""
+
+    def __init__(
+        self,
+        parent: Union[tk.Frame, ttk.Frame],
+        model: MotorTestDataModel,
+        base_window: BaseWindow,
+    ) -> None:
+        super().__init__(parent)
+        self.parent = parent
+        self.model = model
+        self.base_window = base_window
+        self.root_window = base_window.root  # Keep for compatibility
+
+        # Define attributes
+        self.throttle_spinbox: ttk.Spinbox
+        self.duration_spinbox: ttk.Spinbox
+        self.frame_type_combobox: PairTupleCombobox
+        self.motor_buttons: list[ttk.Button] = []
+        self.motor_status_labels: list[ttk.Label] = []  # Status labels for visual feedback
+        self.detected_comboboxes: list[ttk.Combobox] = []
+        self.diagram_label: ttk.Label
+        self.batt_voltage_label: ttk.Label
+        self.batt_current_label: ttk.Label
+        # Store image reference (PNG or other format)
+        self._current_diagram_image: Optional[tk.PhotoImage] = None
+        self._first_motor_test = True  # Track if this is the first motor test
+        self._frame_options_loaded = False  # Track if frame options have been loaded
+        self._diagrams_path = ""  # Cache diagram path for performance
+        self._diagram_needs_update = True  # Track if diagram needs to be updated
+        self._content_frame: Optional[ttk.Frame] = None  # Store reference to content frame for widget searches
+
+        self._create_widgets()
+
+        # Try to refresh frame configuration from flight controller
+        if not self.model.refresh_from_flight_controller():
+            logging_warning(_("Could not refresh frame configuration from flight controller, using defaults"))
+
+        self._update_view()
+
+        # Setup keyboard shortcuts for critical functions
+        self._setup_keyboard_shortcuts()
+
+    def _create_widgets(self) -> None:  # pylint: disable=too-many-statements # noqa: PLR0915
+        """Create and place widgets in the frame."""
+        # Main frame
+        main_frame = ScrollFrame(self.parent)
+        main_frame.pack(fill="both", expand=True)
+        content_frame = main_frame.view_port
+        self._content_frame = content_frame  # Store reference for later use
+
+        # --- Safety Warnings ---
+        warning_frame = ttk.LabelFrame(content_frame, text=_("Safety Warnings"))
+        warning_frame.pack(padx=10, pady=10, fill="x")
+        Label(
+            warning_frame,
+            text=_("PROPELLERS MUST BE REMOVED before proceeding!"),
+            fg="red",
+            font=("TkDefaultFont", 10, "bold"),
+        ).pack(pady=5)
+        ttk.Label(
+            warning_frame,
+            text=_("Ensure the vehicle is properly secured and cannot move."),
+        ).pack(pady=5)
+
+        # --- 1. Frame Configuration ---
+        config_frame = ttk.LabelFrame(content_frame, text=_("1. Frame Configuration"))
+        config_frame.pack(padx=10, pady=5, fill="x")
+
+        # Frame Type
+        frame_type_frame = ttk.Frame(config_frame)
+        frame_type_frame.pack(fill="x", pady=5)
+        ttk.Label(frame_type_frame, text=_("Frame Type:")).pack(side="left", padx=5)
+
+        # Create PairTupleCombobox with frame type pairs
+        frame_type_pairs = self.model.get_frame_type_pairs()
+        current_selection = self.model.get_current_frame_selection_key() if frame_type_pairs else None
+
+        self.frame_type_combobox = PairTupleCombobox(
+            frame_type_frame, frame_type_pairs, current_selection, "Frame Type", state="readonly"
+        )
+        self.frame_type_combobox.pack(side="left", padx=5, expand=True, fill="x")
+        self.frame_type_combobox.bind("<<ComboboxSelected>>", self._on_frame_type_change, add="+")
+
+        self.diagram_label = ttk.Label(config_frame, text=_("Loading diagram..."), anchor="center")
+        self.diagram_label.pack(pady=10)
+
+        # --- 2. Motor Order/Direction Configuration ---
+        testing_frame = ttk.LabelFrame(content_frame, text=_("2. Motor Order/Direction Configuration"))
+        testing_frame.pack(padx=10, pady=5, fill="x")
+
+        controls_frame = ttk.Frame(testing_frame)
+        controls_frame.pack(fill="x", pady=5)
+
+        ttk.Label(controls_frame, text=_("Throttle:")).pack(side="left", padx=4)
+        self.throttle_spinbox = ttk.Spinbox(
+            controls_frame, from_=THROTTLE_PCT_MIN, to=THROTTLE_PCT_MAX, increment=1, width=3, command=self._on_throttle_change
+        )
+        self.throttle_spinbox.pack(side="left", padx=2)
+        # Bind events to capture manual text entry completion
+        self.throttle_spinbox.bind("<Return>", lambda _: self._on_throttle_change())
+        self.throttle_spinbox.bind("<FocusOut>", lambda _: self._on_throttle_change())
+        ttk.Label(controls_frame, text="%").pack(side="left", padx=2)
+
+        ttk.Label(controls_frame, text=_("Duration:")).pack(side="left", padx=4)
+        self.duration_spinbox = ttk.Spinbox(
+            controls_frame, from_=DURATION_S_MIN, to=DURATION_S_MAX, increment=0.5, width=4, command=self._on_duration_change
+        )
+        self.duration_spinbox.pack(side="left", padx=2)
+        # Bind events to capture manual text entry completion
+        self.duration_spinbox.bind("<Return>", lambda _: self._on_duration_change())
+        self.duration_spinbox.bind("<FocusOut>", lambda _: self._on_duration_change())
+        ttk.Label(controls_frame, text="s").pack(side="left", padx=2)
+
+        self.batt_voltage_label = ttk.Label(controls_frame, text=_("Voltage: N/A"))
+        self.batt_voltage_label.pack(side="left", padx=10)
+        self.batt_current_label = ttk.Label(controls_frame, text=_("Current: N/A"))
+        self.batt_current_label.pack(side="left", padx=10)
+
+        motor_grid = ttk.Frame(testing_frame)
+        motor_grid.pack(pady=10)
+        self._create_motor_buttons(motor_grid)
+
+        # --- Test Controls ---
+        test_controls_frame = ttk.Frame(testing_frame)
+        test_controls_frame.pack(pady=10)
+        ttk.Button(test_controls_frame, text=_("Test All"), command=self._test_all_motors).pack(side="left", padx=5)
+        ttk.Button(
+            test_controls_frame,
+            text=_("Test in Sequence"),
+            command=self._test_motors_in_sequence,
+        ).pack(side="left", padx=5)
+        ttk.Button(test_controls_frame, text=_("Stop All Motors"), command=self._stop_all_motors).pack(side="right", padx=5)
+
+        # --- 3. Arm and Min Throttle Configuration ---
+        motor_params_frame = ttk.LabelFrame(content_frame, text=_("3. Arm and Min Throttle Configuration"))
+        motor_params_frame.pack(padx=10, pady=5, fill="x")
+
+        button_frame = ttk.Frame(motor_params_frame)
+        button_frame.pack(fill="x", pady=5)
+        ttk.Button(
+            button_frame,
+            text=_("Set Motor Spin Arm"),
+            command=self._set_motor_spin_arm,
+        ).pack(side="left", padx=5)
+        ttk.Button(
+            button_frame,
+            text=_("Set Motor Spin Min"),
+            command=self._set_motor_spin_min,
+        ).pack(side="left", padx=5)
+
+    def _create_motor_buttons(self, parent: Union[Frame, ttk.Frame]) -> None:
+        """Create the motor test buttons and detection comboboxes."""
+        motor_labels = self.model.motor_labels
+        motor_numbers = self.model.motor_numbers
+        motor_directions = self.model.motor_directions
+        for i in range(self.model.motor_count):
+            motor_number = motor_numbers[i]
+
+            motor_frame = ttk.Frame(parent)
+            motor_frame.grid(row=i // 4, column=i % 4, padx=10, pady=5)
+
+            def make_test_command(test_sequence_nr: int, motor_output_nr: int) -> Callable[[], None]:
+                return lambda: self._test_motor(test_sequence_nr, motor_output_nr)
+
+            button = ttk.Button(
+                motor_frame,
+                text=_("Test Motor %(label)s") % {"label": motor_labels[i]},
+                command=make_test_command(i, motor_number),
+            )
+            button.pack()
+            self.motor_buttons.append(button)
+
+            # Show motor number and expected direction
+            motor_text = _("Motor %(num)d %(dir)s") % {"num": motor_number, "dir": motor_directions[i]}
+            info_label = ttk.Label(motor_frame, text=motor_text)
+            info_label.pack()
+
+            ttk.Label(motor_frame, text=_("Detected:")).pack()
+            combo = ttk.Combobox(motor_frame, values=self.model.motor_labels, width=5)
+            combo.pack()
+            self.detected_comboboxes.append(combo)
+
+            # Add status label for visual feedback
+            status_label = ttk.Label(motor_frame, text=_("Ready"), foreground="blue")
+            status_label.pack()
+            self.motor_status_labels.append(status_label)
+
+    def _update_view(self) -> None:
+        """Update the view with data from the model."""
+        # Update diagram only when needed (not every second)
+        if self._diagram_needs_update:
+            self._update_diagram()
+            self._diagram_needs_update = False
+
+        self._update_motor_buttons_layout()
+        self._update_battery_status()
+        self._update_spinbox_values()
+        self.parent.after(1000, self._update_view)  # Schedule periodic update
+
+    def _update_spinbox_values(self) -> None:
+        """Update spinbox values from the data model only if not currently being edited."""
+        try:
+            # Only update if the spinbox doesn't have focus (user is not editing)
+            if self.throttle_spinbox.focus_get() != self.throttle_spinbox:
+                throttle_pct = self.model.get_test_throttle_pct()
+                current_value = self.throttle_spinbox.get()
+                # Only update if the value has actually changed to avoid unnecessary updates
+                if current_value != str(throttle_pct):
+                    self.throttle_spinbox.delete(0, "end")
+                    self.throttle_spinbox.insert(0, str(throttle_pct))
+
+            # Only update if the spinbox doesn't have focus (user is not editing)
+            if self.duration_spinbox.focus_get() != self.duration_spinbox:
+                duration = self.model.get_test_duration_s()
+                current_value = self.duration_spinbox.get()
+                # Only update if the value has actually changed to avoid unnecessary updates
+                if current_value != str(duration):
+                    self.duration_spinbox.delete(0, "end")
+                    self.duration_spinbox.insert(0, str(duration))
+        except KeyError:
+            pass
+
+    def _update_motor_buttons_layout(self) -> None:
+        """Re-create motor buttons if motor count changes."""
+        current_count = len(self.motor_buttons)
+        required_count = self.model.motor_count
+
+        if current_count != required_count:
+            # Clear existing widgets
+            for button in self.motor_buttons:
+                button.master.destroy()
+            for combo in self.detected_comboboxes:
+                combo.master.destroy()
+            self.motor_buttons.clear()
+            self.motor_status_labels.clear()
+            self.detected_comboboxes.clear()
+
+            # Find the motor grid frame by searching for it
+            # This is more robust than hardcoded casting
+            def find_motor_grid(parent: Union[Frame, ttk.Frame]) -> Optional[Union[Frame, ttk.Frame]]:
+                """Find a suitable motor grid frame."""
+                for child in parent.winfo_children():
+                    if isinstance(child, (Frame, ttk.Frame)):
+                        # Check if this looks like our motor grid
+                        grid_children = child.winfo_children()
+                        if len(grid_children) == 0:  # Empty frame ready for motor buttons
+                            return child
+                        # Recursively search
+                        result = find_motor_grid(child)
+                        if result:
+                            return result
+                return None
+
+            # Find the testing frame and create new motor grid
+            testing_frame = None
+            if self._content_frame:
+                for child in self._content_frame.winfo_children():
+                    try:
+                        if hasattr(child, "cget") and "Motor Order/Direction Configuration" in str(child.cget("text")):
+                            testing_frame = child
+                            break
+                    except tk.TclError:
+                        # Widget doesn't have a "text" option, skip it
+                        continue
+
+            if testing_frame and isinstance(testing_frame, (Frame, ttk.Frame)):
+                motor_grid = find_motor_grid(testing_frame)
+                if motor_grid:
+                    self._create_motor_buttons(motor_grid)
+                else:
+                    logging_error(_("Could not find motor grid frame"))
+            else:
+                logging_error(_("Could not find testing frame"))
+
+    def _load_png_diagram(self, diagram_path: str) -> None:
+        """Load and display a PNG motor diagram using BaseWindow.put_image_in_label()."""
+        logging_debug(_("Found PNG diagram at: %(path)s"), {"path": diagram_path})
+
+        try:
+            # Create a temporary parent frame for the label creation
+            temp_frame = ttk.Frame(self.diagram_label.master)
+
+            # Use BaseWindow's method with a reasonable height for motor diagrams
+            new_label = self.base_window.put_image_in_label(
+                parent=temp_frame,
+                filepath=diagram_path,
+                image_height=230,  # Target height for motor diagrams
+                fallback_text=_("Error loading diagram"),
+            )
+
+            # Copy the image and text from the new label to our existing label
+            image_ref = getattr(new_label, "image", None)
+            if image_ref:
+                self.diagram_label.configure(image=image_ref, text="")
+                # Keep reference to prevent garbage collection
+                self._current_diagram_image = image_ref
+                logging_debug(_("Image loaded and displayed successfully"))
+            else:
+                # Fallback case - use the text from the new label
+                self.diagram_label.configure(image="", text=new_label.cget("text"))
+                self._current_diagram_image = None
+
+            # Clean up temporary frame
+            temp_frame.destroy()
+
+        except FileNotFoundError:
+            logging_error(_("Image file not found: %s"), diagram_path)
+            self.diagram_label.configure(image="", text=_("Diagram not found"))
+            self._current_diagram_image = None
+        except (OSError, ValueError, TypeError, AttributeError) as e:
+            logging_error(_("Error loading PNG diagram: %(error)s"), {"error": e})
+            self.diagram_label.configure(image="", text=_("Error loading diagram"))
+            self._current_diagram_image = None
+
+    def _update_diagram(self) -> None:
+        """Update the motor diagram image."""
+        self.diagram_label.configure(image="", text=_("Loading diagram..."))
+
+        if self.model.motor_diagram_exists():
+            if self._diagrams_path:
+                diagram_path = self._diagrams_path
+                error_msg = ""
+            else:
+                diagram_path, error_msg = self.model.get_motor_diagram_path()
+                self._diagrams_path = diagram_path
+
+            # Debug logging to understand the issue
+            logging_debug(
+                _("Diagram path type: %(type)s, value: %(path)s"),
+                {"type": type(diagram_path).__name__, "path": repr(diagram_path)},
+            )
+
+            if diagram_path and isinstance(diagram_path, str) and diagram_path.endswith(".png"):
+                self._load_png_diagram(diagram_path)
+            elif error_msg:
+                logging_error(error_msg)
+                self.diagram_label.configure(image="", text=error_msg)
+            else:
+                self.diagram_label.configure(image="", text=_("Diagram: %(path)s") % {"path": diagram_path})
+        else:
+            self.diagram_label.configure(image="", text=_("Motor diagram not available."))
+
+    def _update_battery_status(self) -> None:
+        """Update battery voltage and current labels."""
+        voltage_text, current_text = self.model.get_battery_display_text()
+
+        self.batt_voltage_label.config(text=voltage_text)
+        self.batt_current_label.config(text=current_text)
+
+        # Update color based on voltage status
+        color = self.model.get_battery_status_color()
+        self.batt_voltage_label.config(foreground=color)
+
+    def _on_frame_type_change(self, _event: object) -> None:
+        """Handle frame type selection change and immediately upload parameters."""
+        # Get the selected frame type code from PairTupleCombobox
+        selected_key = self.frame_type_combobox.get_selected_key()
+        if selected_key is None:
+            logging_warning(_("No frame type selected"))
+            return
+
+        # Convert the selected key to the format expected by the data model
+        # The data model expects the display text (type name), not the code
+        current_frame_types = self.model.get_current_frame_class_types()
+        selected_type_code = int(selected_key)
+        selected_text = current_frame_types.get(selected_type_code, f"Type {selected_type_code}")
+
+        logging_info(_("Frame type changed: %(code)s (%(name)s)"), {"code": selected_key, "name": selected_text})
+
+        try:
+            # Create delayed progress windows that only show if operation takes more than 1 second
+            reset_progress_window = ProgressWindow(
+                self.root_window,
+                _("Resetting Flight Controller"),
+                _("Waiting for {} of {} seconds"),
+                only_show_when_update_progress_called=True,
+            )
+            connection_progress_window = ProgressWindow(
+                self.root_window,
+                _("Re-Connecting to Flight Controller"),
+                _("Waiting for {} of {} seconds"),
+                only_show_when_update_progress_called=True,
+            )
+
+            # Create delayed callback wrappers that wait 1 second before showing progress
+            reset_callback = DelayedProgressCallback(reset_progress_window.update_progress_bar, 1.0)
+            connection_callback = DelayedProgressCallback(connection_progress_window.update_progress_bar, 1.0)
+
+            self.model.update_frame_type_from_selection(
+                selected_text,
+                reset_callback,
+                connection_callback,
+                extra_sleep_time=2,
+            )
+            reset_progress_window.destroy()  # for the case that we are doing a test and there is no real FC connected
+            connection_progress_window.destroy()  # for the case that we are doing a test and there is no real FC connected
+
+            # Invalidate diagram cache since frame type changed
+            self._diagrams_path = ""
+            self._diagram_needs_update = True
+
+            # Update UI components
+            self._update_motor_buttons_layout()
+
+        except (ValidationError, ParameterError, FrameConfigurationError) as e:
+            showerror(_("Parameter Update Error"), str(e))
+
+    def _on_throttle_change(self) -> None:
+        """Handle throttle spinbox change."""
+        logging_debug(_("_on_throttle_change called with value: %(val)s"), {"val": self.throttle_spinbox.get()})
+        try:
+            throttle_pct = int(float(self.throttle_spinbox.get()))
+            self.model.set_test_throttle_pct(throttle_pct)
+            logging_debug(_("Throttle set to %(pct)d%%"), {"pct": throttle_pct})
+        except ValueError as e:
+            # Invalid value entered, reset to model value
+            logging_warning(_("ValueError in _on_throttle_change: %(error)s"), {"error": str(e)})
+            throttle_pct = self.model.get_test_throttle_pct()
+            self.throttle_spinbox.delete(0, "end")
+            self.throttle_spinbox.insert(0, str(throttle_pct))
+            showerror(
+                _("Throttle value error"), _("Invalid throttle value entered, reset to %(pct)d%%") % {"pct": throttle_pct}
+            )
+        except (ValidationError, ParameterError) as e:
+            # Model validation failed, reset to current model value
+            logging_warning(_("ValidationError/ParameterError in _on_throttle_change: %(error)s"), {"error": str(e)})
+            throttle_pct = self.model.get_test_throttle_pct()
+            self.throttle_spinbox.delete(0, "end")
+            self.throttle_spinbox.insert(0, str(throttle_pct))
+            showerror(_("Throttle value error"), _("Throttle validation failed: %(error)s") % {"error": str(e)})
+
+    def _on_duration_change(self) -> None:
+        """Handle duration spinbox change."""
+        logging_debug(_("_on_duration_change called with value: %(val)s"), {"val": self.duration_spinbox.get()})
+        try:
+            duration = float(self.duration_spinbox.get())
+            self.model.set_test_duration_s(duration)
+            logging_debug(_("Duration set to %(dur)g seconds"), {"dur": duration})
+        except ValueError as e:
+            # Invalid value entered, reset to model value
+            logging_warning(_("ValueError in _on_duration_change: %(error)s"), {"error": str(e)})
+            duration = self.model.get_test_duration_s()
+            self.duration_spinbox.delete(0, "end")
+            self.duration_spinbox.insert(0, str(duration))
+            showerror(
+                _("Duration value error"), _("Invalid duration value entered, reset to %(dur)g seconds") % {"dur": duration}
+            )
+        except (ValidationError, ParameterError) as e:
+            # Model validation failed, reset to current model value
+            logging_warning(_("ValidationError/ParameterError in _on_duration_change: %(error)s"), {"error": str(e)})
+            duration = self.model.get_test_duration_s()
+            self.duration_spinbox.delete(0, "end")
+            self.duration_spinbox.insert(0, str(duration))
+            showerror(_("Duration value error"), _("Duration validation failed: %(error)s") % {"error": str(e)})
+
+    def _set_motor_spin_arm(self) -> None:
+        """Open a dialog to set MOT_SPIN_ARM."""
+        # Simple dialog for now, should be a custom Toplevel
+        current_val = self.model.get_parameter("MOT_SPIN_ARM")
+        new_val = askfloat(
+            _("Set Motor Spin Arm"),
+            _("Enter new value for MOT_SPIN_ARM with 0.02 margin:"),
+            initialvalue=current_val,
+        )
+        if new_val is not None:
+            try:
+                reset_progress_window = ProgressWindow(
+                    self.root_window, _("Resetting Flight Controller"), _("Waiting for {} of {} seconds")
+                )
+                self.model.set_parameter("MOT_SPIN_ARM", new_val, reset_progress_window.update_progress_bar)
+                reset_progress_window.destroy()  # for the case that we are doing a test and there is no real FC connected
+            except (ParameterError, ValidationError) as e:
+                showerror(_("Error"), str(e))
+
+    def _set_motor_spin_min(self) -> None:
+        """Open a dialog to set MOT_SPIN_MIN."""
+        current_val = self.model.get_parameter("MOT_SPIN_MIN")
+        new_val = askfloat(
+            _("Set Motor Spin Min"),
+            _("Enter new value for MOT_SPIN_MIN, must be at least 0.02 higher than MOT_SPIN_ARM:"),
+            initialvalue=current_val,
+            minvalue=0.0,
+            maxvalue=1.0,
+        )
+        if new_val is not None:
+            try:
+                self.model.set_parameter("MOT_SPIN_MIN", new_val)
+            except (ParameterError, ValidationError) as e:
+                showerror(_("Error"), str(e))
+
+    def _test_motor(self, test_sequence_nr: int, motor_output_nr: int) -> None:
+        """Execute a test for a single motor."""
+        logging_debug(
+            _("Testing motor %(seq)s at motor output %(num)d"),
+            {"seq": self.model.motor_labels[test_sequence_nr], "num": motor_output_nr},
+        )
+
+        # First-time safety confirmation
+        if self._first_motor_test and self.model.should_show_first_test_warning():
+            if not askyesno(_("Safety Confirmation"), self.model.get_safety_warning_message()):
+                return
+            self._first_motor_test = False
+
+        try:
+            # Check if motor test is safe (includes voltage checks)
+            self.model.is_motor_test_safe()
+
+            # Validate test parameters
+            throttle_pct = self.model.get_test_throttle_pct()
+            duration = int(self.model.get_test_duration_s())
+
+            # Execute motor test
+            self.model.test_motor(test_sequence_nr, motor_output_nr, throttle_pct, duration)
+
+            self._update_motor_status(motor_output_nr, _("Command sent"), "green")
+
+            # Reset status after a short delay
+            self.root_window.after(2000, partial(self._update_motor_status, motor_output_nr, _("Ready"), "blue"))
+
+        except MotorTestSafetyError as e:
+            # Check if it's a voltage issue and provide specific guidance
+            if self.model.is_battery_related_safety_issue(str(e)):
+                showwarning(_("Battery Voltage Warning"), self.model.get_battery_safety_message(str(e)))
+            else:
+                showwarning(_("Safety Check Failed"), str(e))
+            self._update_motor_status(motor_output_nr, _("Safety Check Failed"), "red")
+        except ValidationError as e:
+            showerror(_("Parameter Validation Error"), str(e))
+            self._update_motor_status(motor_output_nr, _("Invalid Parameters"), "red")
+        except MotorTestExecutionError as e:
+            self._update_motor_status(motor_output_nr, _("Test Failed"), "red")
+            showerror(_("Error"), str(e))
+        except Exception as e:  # pylint: disable=broad-exception-caught
+            self._update_motor_status(motor_output_nr, _("Error"), "red")
+            showerror(_("Unexpected Error"), str(e))
+
+    def _test_all_motors(self) -> None:
+        """Execute a test for all motors simultaneously."""
+        logging_debug(_("Testing all motors"))
+
+        # First-time safety confirmation
+        if self._first_motor_test and self.model.should_show_first_test_warning():
+            if not askyesno(_("Safety Confirmation"), self.model.get_safety_warning_message()):
+                return
+            self._first_motor_test = False
+
+        try:
+            # Check if motor test is safe
+            self.model.is_motor_test_safe()
+
+            # Validate test parameters
+            throttle_pct = self.model.get_test_throttle_pct()
+            duration = int(self.model.get_test_duration_s())
+
+            # Execute all motors test
+            self.model.test_all_motors(throttle_pct, duration)
+
+            for motor_number in range(1, self.model.motor_count + 1):
+                self._update_motor_status(motor_number, _("Command sent"), "green")
+
+                # Reset status after a short delay
+                self.root_window.after(
+                    2000,
+                    partial(self._update_motor_status, motor_number, _("Ready"), "blue"),
+                )
+
+        except MotorTestSafetyError as e:
+            showwarning(_("Safety Check Failed"), str(e))
+        except ValidationError as e:
+            showerror(_("Parameter Validation Error"), str(e))
+        except MotorTestExecutionError as e:
+            showerror(_("Error"), str(e))
+        except Exception as e:  # pylint: disable=broad-exception-caught
+            showerror(_("Unexpected Error"), str(e))
+
+    def _test_motors_in_sequence(self) -> None:
+        """Execute a test for all motors in sequence."""
+        logging_debug(_("Testing motors in sequence"))
+
+        # First-time safety confirmation
+        if self._first_motor_test and self.model.should_show_first_test_warning():
+            if not askyesno(_("Safety Confirmation"), self.model.get_safety_warning_message()):
+                return
+            self._first_motor_test = False
+
+        try:
+            # Check if motor test is safe
+            self.model.is_motor_test_safe()
+
+            # Validate test parameters
+            throttle_pct = self.model.get_test_throttle_pct()
+            duration = int(self.model.get_test_duration_s())
+
+            # Execute sequential test
+            self.model.test_motors_in_sequence(throttle_pct, duration)
+
+            for motor_number in range(1, self.model.motor_count + 1):
+                self._update_motor_status(motor_number, _("Command sent"), "green")
+
+                # Reset status after a short delay
+                self.root_window.after(
+                    2000,
+                    partial(self._update_motor_status, motor_number, _("Ready"), "blue"),
+                )
+
+        except MotorTestSafetyError as e:
+            showwarning(_("Safety Check Failed"), str(e))
+        except ValidationError as e:
+            showerror(_("Parameter Validation Error"), str(e))
+        except MotorTestExecutionError as e:
+            showerror(_("Error"), str(e))
+        except Exception as e:  # pylint: disable=broad-exception-caught
+            showerror(_("Unexpected Error"), str(e))
+
+    def _stop_all_motors(self) -> None:
+        """Stop all motors immediately."""
+        logging_info(_("Stopping all motors"))
+
+        try:
+            self.model.stop_all_motors()
+            for motor_number in range(1, self.model.motor_count + 1):
+                self._update_motor_status(motor_number, _("Stop sent"), "red")
+            self.root_window.after(2000, self._reset_all_motor_status)
+        except MotorTestExecutionError as e:
+            showerror(_("Error"), str(e))
+        except Exception as e:  # pylint: disable=broad-exception-caught
+            showerror(_("Unexpected Error"), str(e))
+
+    def _emergency_stop(self) -> None:
+        """Emergency stop - alias for _stop_all_motors for test compatibility."""
+        self._stop_all_motors()
+
+    def _update_motor_status(self, motor_number: int, status: str, color: str = "black") -> None:
+        """
+        Update visual status for a specific motor.
+
+        Args:
+            motor_number: Motor number (1-based)
+            status: Status text to display
+            color: Text color for the status
+
+        """
+        if 1 <= motor_number <= len(self.motor_status_labels):
+            label = self.motor_status_labels[self.model.test_order(motor_number)]
+            label.config(text=status, foreground=color)
+            label.update_idletasks()  # Force GUI update
+
+    def _reset_all_motor_status(self) -> None:
+        """Reset all motor status labels to 'Ready'."""
+        for label in self.motor_status_labels:
+            label.config(text=_("Ready"), foreground="blue")
+
+    def _setup_keyboard_shortcuts(self) -> None:
+        """Setup keyboard shortcuts for critical motor test functions."""
+        # Emergency stop (Escape key)
+        self.root_window.bind("<Escape>", lambda _: self._stop_all_motors())
+        self.root_window.bind("<Control-s>", lambda _: self._stop_all_motors())
+
+        # Test all motors (Ctrl+A)
+        self.root_window.bind("<Control-a>", lambda _: self._test_all_motors())
+
+        # Test in sequence (Ctrl+Q)
+        self.root_window.bind("<Control-q>", lambda _: self._test_motors_in_sequence())
+
+        # Focus root window to ensure it can capture key events
+        self.root_window.focus_set()
+
+
+class MotorTestWindow(BaseWindow):
+    """
+    Standalone window for the motor test GUI.
+
+    Used for development and testing.
+    """
+
+    def __init__(self, model: MotorTestDataModel) -> None:
+        super().__init__()
+        self.model = model  # Store model reference for tests
+        self.root.title(_("ArduPilot Motor Test"))
+        width = self.calculate_scaled_image_size(400)
+        height = self.calculate_scaled_image_size(610)
+        self.root.geometry(str(width) + "x" + str(height))
+
+        self.view = MotorTestView(self.main_frame, model, self)
+
+        self.root.protocol("WM_DELETE_WINDOW", self.on_close)
+
+    def on_close(self) -> None:
+        """Handle window close event."""
+        # Attempt to stop any running tests gracefully
+        try:
+            self.view.model.stop_all_motors()
+        except MotorTestExecutionError:
+            # Some frame types (like "No torque yaw") may not support motor commands
+            # This is expected and we should just log it without showing an error
+            logging_debug(_("Motor stop command failed during shutdown - this is normal for some frame types"))
+        except Exception as e:  # pylint: disable=broad-exception-caught
+            # Log other unexpected exceptions but don't prevent shutdown
+            logging_warning(_("Unexpected error during motor stop at shutdown: %(error)s"), {"error": str(e)})
+
+        self.root.destroy()
+
+
+def argument_parser() -> Namespace:
+    """
+    Parses command-line arguments for the script.
+
+    This function sets up an argument parser to handle the command-line arguments for the script.
+    This is just for testing the script. Production code will not call this function.
+
+    Returns:
+    argparse.Namespace: An object containing the parsed arguments.
+
+    """
+    # The rest of the file should not have access to any of these backends.
+    # It must use the data_model layer instead of accessing the backends directly.
+    # pylint: disable=import-outside-toplevel
+    from ardupilot_methodic_configurator.backend_filesystem import LocalFilesystem  # noqa: PLC0415
+    from ardupilot_methodic_configurator.backend_flightcontroller import FlightController  # noqa: PLC0415
+    # pylint: enable=import-outside-toplevel
+
+    parser = ArgumentParser(
+        description=_(
+            "This main is for testing and development only. Usually, the MotorTestView is called from another script"
+        )
+    )
+    parser = FlightController.add_argparse_arguments(parser)
+    parser = LocalFilesystem.add_argparse_arguments(parser)
+    return add_common_arguments(parser).parse_args()
+
+
+# pylint: disable=duplicate-code
+def main() -> None:
+    args = argument_parser()
+
+    state = ApplicationState(args)
+
+    setup_logging(state)
+
+    logging_warning(
+        _("This main is for testing and development only, usually the MotorTestView is called from another script")
+    )
+
+    # Initialize flight controller and filesystem
+    initialize_flight_controller_and_filesystem(state)
+
+    try:
+        data_model = MotorTestDataModel(state.flight_controller, state.local_filesystem)
+        window = MotorTestWindow(data_model)
+        window.root.mainloop()
+
+    except Exception as e:  # pylint: disable=broad-exception-caught
+        logging_error("Failed to start MotorTestWindow: %(error)s", {"error": e})
+        # Show error to user
+        showerror(_("Error"), f"Failed to start Motor Test: {e}")
+    finally:
+        if state.flight_controller:
+            state.flight_controller.disconnect()  # Disconnect from the flight controller
+
+
+if __name__ == "__main__":
+    main()