forked from Archive/PX4-Autopilot
78 lines
2.0 KiB
Python
Executable File
78 lines
2.0 KiB
Python
Executable File
#! /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()
|