Raidrive Window
===============

.. figure:: ../../image/raidrive_window.png
   :alt: raidrive_window
   :width: 900

   Raidrive diagnostics window.

Overview
--------

In the screenshot above, the left column focuses on EtherCAT interfaces and
SDO parameters, while the right column contains live status, firmware tools,
and real-time monitoring widgets.

Layout
------

* **Network Interfaces**: select and refresh available EtherCAT interfaces,
  scan slaves, and connect/disconnect.
* **Driver SDO Parameters**: read and display configurable drive parameters.
* **Slave Status**: live ECAT state, CiA402 state, control mode, and telemetry.
* **Firmware & ESI Operations**: open firmware/ESI files and program drives.
* **Realtime Monitor**: plots of target/position/velocity/torque/temperature.
* **PDO Monitor**: live TX/RX PDO values and edit controls.
* **Terminal**: log output for firmware and diagnostic actions.

Controls and Indicators
-----------------------

* **Update SDOs** reads parameter values from the selected drive.
* **Open Firmware / Open ESI** launch file pickers for ``.bin`` payloads.
* **Program** triggers firmware updates with confirmation dialogs.
* **Run / Stop** control waveform commands for selected drives.

Data Sources
------------

* EtherCAT telemetry is provided by the internal Raidrive manager.
* SDO metadata maps provide human-readable labels for indices.

Notes
-----

* Firmware updates require stable power; confirm the selected drive before
  proceeding.
* Use the PDO monitor to verify low-level I/O when debugging drive behavior.