IPTS - iCub Production Test Suite

IPTS is a test suite, configurable via .xml file, that allows to interact with test firmware loaded on boards to be tested. Written in C# (.NET framework) , is a Windows Form application. In this repo there are Visual Studio solution file, sources, and the installer project (InnoSetup) and output.

List of tested codes

Here is the list of the codes tested with the IPTS suite

IIT Code	Revisions	Description
12008	B,C	MTB4, IIT - Electronic board for tactile sensor, with 3 axis accelerometers Vin 5Vcc
11996	B,C	STRAIN2, IIT - Electronic board, 6 channels strain gauges variable gain interface board with CAN/UART, Temperature sensor, IMU, STM32L4
5443	D,E	MC4-PLUS, IIT - Electronic board with cortex M4, Ethernet and power driver for 4 DC motors, SPI interface, 2 analog channels, 12-32V supply voltage, low brightness
10004	B	MC4-PLUS_CSHAPE , IIT - Electronic Board
12024	C	RFE_MASTER, IIT - Electronic Board, Robot Face Expression Master board
2694		2224U012SR+IE2-512+2082 Faulhaber - Brush motor, encoder with 500mm cable lenght
12264		FAULHABER MOTOR 1016M012GK380+GEARBOX 10/1 i=16
10347		BLDC motor assembly, OD 49.2, ID 9.54, L 20.7, stack length 5.7, airgap diam 29.5
10350		BLDC motor assembly, OD 49.2, ID 9.54, L 27.7, stack length 12.7, airgap diam 29.5
7117		Moog BLDC motor, OD 49.2, ID 15.5, L 24.7 , W/O HALL SENSOR
7116		Moog BLDC motor, OD 49.2, ID 15.5, L 17.7 , W/O HALL SENSOR
10182		Moog BLDC motor, OD 72.4, ID 15.5, L 27.5 , W/O HALL SENSOR

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1 Installation

1.1 Installing the test suite

You can install IPTS on a Windows 10 machine.

⚠️ If the installer is required by suppliers or, in general, by external parties from IIT please refer to the installer attached in the provided release and DO NOT USE the link below

• Download the installer from the releases page
• Run it and follow the wizard

1.2 Installing ESD CAN-USB drivers

ESD CAN-USB is an interface that allows to convert USB communications to CAN (and viceversa). It is is used as communication interface between the test suite and the test firmware during the test.

• Connect the ESD CAN-USB and run Device manager
• Right click on the device -> update driver

• Choose “browse my computer for driver software” option

• Browse to [intallationPath]\tools\drivers_can (i.e. C:\Program Files (x86)\Istituto Italiano di Tecnologia\IPTS\tools\drivers_can) and correct drivers should be installed by Windows.

1.3 Configuring network interface

This is necessary only for ETH boards (mc4plus and mc2plus).

To let IPTS testing the ethernet hardware we need to configure a network interface (also an USB/ETH adapter is good) with a fixed ip address.

Follow the steps below:

1. In Control Panel got to Network and Internet

2. Select Network and Sharing Center

3. Select Chnage adapter settings

4. Right click on the desired network interface then select Properties

5. Select Internet Protocol Version 4 (TCP/IPv4) then click on Properties

6. Select Use the following IP address and input the values as in figure below, then click OK

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2 Run IPTS

• Launch the iCubProductionTestSuite.exe either from start menu, Desktop shortcut or installation folder with Administrator privileges
• Enter the full operator’s name

• Choose the board to be tested

• Click Run and enter the serial number, then follow the instructions given by the software

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3 IPTS GUI description

This is the main GUI, here is a brief description of its functionalities

3.1 Toolbar

• Under File you’ll find two options:

• Open TestReports folder -> opens the folder containing all test reports
• Exit -> quits the program

• Under Help youll’find About option that gives you info about software revision

3.2 Test mode

• Production mode

  In this mode you can’t check/uncheck tests to be executed; you will execute the whole testplan. At the and a report will be generated under PASS or FAIL subfolder in TesteReports folder.

• Debug mode

  In this mode you can check/uncheck tests to be executed; you will be able to choose which test or set of tests will be executed. At the and no report will be generated, anyway if you click on Save log the log will be saved under DEBUG subfolder in TesteReports folder.

3.3 Testplan

Here’s the list of all tests to be executed to validate the DUT. The list of tetss is defined in the ipts.xml file. If Debug mode is selected you can execute one or more tests by checking them.

3.4 Run/Stop

• Run

  starts tests execution

• Stop

  stops tests execution

3.5 Log

Here you can read the log of testplan execution. Once tests execution is competed the report will be saved in the TestReports folder. Save log and Clear log buttons will be enabled only in debug mode. At the bottom youll’find info about operator name and date.