px4-firmware/Tools/HIL/run_nsh_cmd.py

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#! /usr/bin/python
import serial, time
import subprocess
from subprocess import call, Popen
from argparse import ArgumentParser
import re
def do_nsh_cmd(port, baudrate, cmd):
databits = serial.EIGHTBITS
stopbits = serial.STOPBITS_ONE
parity = serial.PARITY_NONE
ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=10)
ser.write('\n\n')
finished = 0
success = False
timeout = 10 # 10 seconds
timeout_start = time.time()
while finished == 0:
serial_line = ser.readline()
print(serial_line.replace('\n',''))
if "nsh>" in serial_line:
finished = 1
if time.time() > timeout_start + timeout:
print("Error, timeout")
finished = 1
break
# run command
ser.write(cmd + '\n')
time.sleep(0.05)
ser.write('\n')
finished = 0
timeout = 30 # 30 seconds
timeout_start = time.time()
timeout_newline = time.time()
while finished == 0:
serial_line = ser.readline()
print(serial_line.replace('\n',''))
if cmd in serial_line:
continue
elif "nsh>" in serial_line:
finished = 1
break
if time.time() > timeout_start + timeout:
print("Error, timeout")
finished = 1
break
# newline every 10 seconds if still running
if time.time() - timeout_newline > 10:
ser.write('\n')
timeout_newline = time.time()
ser.close()
def main():
parser = ArgumentParser(description=__doc__)
parser.add_argument('--device', "-d", nargs='?', default = None, help='')
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
parser.add_argument("--cmd", "-c", dest="cmd", help="Command to run")
args = parser.parse_args()
do_nsh_cmd(args.device, args.baudrate, args.cmd)
if __name__ == "__main__":
main()