px4-firmware/Tools/HIL/reboot.py

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#! /usr/bin/env python3
import serial, time
import subprocess
from subprocess import call, Popen
from argparse import ArgumentParser
import re
import sys
import datetime
import serial.tools.list_ports as list_ports
import tempfile
COLOR_RED = "\x1b[31m"
COLOR_GREEN = "\x1b[32m"
COLOR_YELLOW = "\x1b[33m"
COLOR_WHITE = "\x1b[37m"
COLOR_RESET = "\x1b[0m"
def print_line(line):
if "WARNING" in line:
line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
elif "WARN" in line:
line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
elif "ERROR" in line:
line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
elif "INFO" in line:
line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
if "PASSED" in line:
line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
if "FAILED" in line:
line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
if "\n" in line:
current_time = datetime.datetime.now()
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
else:
print('{0}'.format(line), end='')
def reboot(port_url, baudrate):
ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
time_start = time.monotonic()
ser.write("\n\n\n".encode("ascii"))
ser.write("reboot\n".encode("ascii"))
time_reboot_cmd = time_start
timeout_reboot_cmd = 90
timeout = 300 # 5 minutes
return_code = 0
while True:
serial_line = ser.readline().decode("ascii", errors='ignore')
if len(serial_line) > 0:
print_line(serial_line)
if "ERROR" in serial_line:
return_code = -1
if "NuttShell (NSH)" in serial_line:
sys.exit(return_code)
else:
if time.monotonic() > time_start + timeout:
print("Error, timeout")
sys.exit(-1)
if time.monotonic() > time_reboot_cmd + timeout_reboot_cmd:
time_reboot_cmd = time.monotonic()
print("sending reboot cmd again")
ser.write("reboot\n".encode("ascii"))
def main():
default_device = None
device_required = True
# select USB UART as default if there's only 1
ports = list(serial.tools.list_ports.grep('USB UART'))
if (len(ports) == 1):
default_device = ports[0].device
device_required = False
print("Default USB UART port: {0}".format(ports[0].name))
print(" device: {0}".format(ports[0].device))
print(" description: \"{0}\" ".format(ports[0].description))
print(" hwid: {0}".format(ports[0].hwid))
#print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
#print(" serial_number: {0}".format(ports[0].serial_number))
#print(" location: {0}".format(ports[0].location))
print(" manufacturer: {0}".format(ports[0].manufacturer))
#print(" product: {0}".format(ports[0].product))
#print(" interface: {0}".format(ports[0].interface))
parser = ArgumentParser(description=__doc__)
parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
args = parser.parse_args()
reboot(args.device, args.baudrate)
if __name__ == "__main__":
main()