fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-28 23:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Tools/HIL: explain cmd, use monotonic time

Browse Source
This commit is contained in:
Daniel Agar
2021-12-11 15:02:49 -05:00
parent 0f6e30599c
commit b71b908ac7
5 changed files with 44 additions and 39 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Tools/HIL/nsh_param_set.py
+13 -11
View File
@@ -34,7 +34,7 @@ def print_line(line):
def do_param_set_cmd(port, baudrate, param_name, param_value):
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
timeout_start = time.time()
timeout_start = time.monotonic()
timeout = 30 # 30 seconds
# wait for nsh prompt
@@ -50,7 +50,7 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
if len(serial_line) > 0:
print_line(serial_line)
if time.time() > timeout_start + timeout:
if time.monotonic() > timeout_start + timeout:
print("Error, timeout waiting for prompt")
sys.exit(1)
@@ -58,12 +58,13 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
ser.readlines()
# run command
timeout_start = time.time()
timeout_start = time.monotonic()
timeout = 10 # 10 seconds
cmd = "param set " + param_name + " " + param_value
# write command (param set) and wait for command echo
print("Running command: \'{0}\'".format(cmd))
serial_cmd = '{0}\r\n'.format(cmd)
ser.write(serial_cmd.encode("ascii"))
ser.flush()
@@ -77,7 +78,7 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
if len(serial_line) > 0:
print_line(serial_line)
if time.time() > timeout_start + timeout:
if time.monotonic() > timeout_start + timeout:
print("Error, timeout waiting for command echo")
break
@@ -89,8 +90,8 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
param_show_response = param_name + " ["
timeout_start = time.time()
timeout = 2 # 2 seconds
timeout_start = time.monotonic()
timeout = 3 # 3 seconds
while True:
serial_line = ser.readline().decode("ascii", errors='ignore')
@@ -107,19 +108,20 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
if len(serial_line) > 0:
print_line(serial_line)
if time.time() > timeout_start + timeout:
if time.monotonic() > timeout_start + timeout:
if "nsh>" in serial_line:
sys.exit(1) # error, command didn't complete successfully
elif "NuttShell (NSH)" in serial_line:
sys.exit(1) # error, command didn't complete successfully
if time.monotonic() > timeout_start + timeout:
print("Error, timeout")
sys.exit(-1)
if len(serial_line) <= 0:
ser.write("\r\n".encode("ascii"))
ser.flush()
if time.time() > timeout_start + timeout:
print("Error, timeout")
sys.exit(-1)
time.sleep(0.2)
ser.close()