mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
124 lines
3.6 KiB
Python
Executable File
124 lines
3.6 KiB
Python
Executable File
#! /usr/bin/env python3
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import serial, time
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import subprocess
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from subprocess import call, Popen
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from argparse import ArgumentParser
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import re
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import sys
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import datetime
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COLOR_RED = "\x1b[31m"
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COLOR_GREEN = "\x1b[32m"
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COLOR_YELLOW = "\x1b[33m"
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COLOR_WHITE = "\x1b[37m"
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COLOR_RESET = "\x1b[0m"
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def print_line(line):
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if "WARNING" in line:
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line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
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elif "WARN" in line:
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line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
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elif "ERROR" in line:
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line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
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elif "INFO" in line:
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line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
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if "PASSED" in line:
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line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
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if "FAILED" in line:
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line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
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current_time = datetime.datetime.now()
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print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
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def do_nsh_cmd(port, baudrate, cmd):
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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)
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timeout_start = time.time()
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timeout = 10 # 10 seconds
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# wait for nsh prompt
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while True:
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ser.write("\n".encode("ascii"))
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ser.flush()
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serial_line = ser.readline().decode("ascii", errors='ignore')
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if "nsh>" in serial_line:
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break
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else:
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if len(serial_line) > 0:
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print_line(serial_line)
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if time.time() > timeout_start + timeout:
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print("Error, timeout waiting for prompt")
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sys.exit(1)
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# clear
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ser.readlines()
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# run command
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timeout_start = time.time()
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timeout = 2 # 2 seconds
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success_cmd = "cmd succeeded!"
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# wait for command echo
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serial_cmd = '{0}; echo "{1}"\r\n'.format(cmd, success_cmd)
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ser.write(serial_cmd.encode("ascii"))
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ser.flush()
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while True:
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serial_line = ser.readline().decode("ascii", errors='ignore')
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if cmd in serial_line:
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break
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else:
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if len(serial_line) > 0:
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print_line(serial_line)
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if time.time() > timeout_start + timeout:
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print("Error, timeout waiting for command echo")
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break
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timeout_start = time.time()
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timeout = 30 # 30 seconds
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while True:
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serial_line = ser.readline().decode("ascii", errors='ignore')
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if success_cmd in serial_line:
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break
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else:
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if len(serial_line) > 0:
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print_line(serial_line)
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if "nsh>" in serial_line:
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sys.exit(1) # error, command didn't complete successfully
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elif "NuttShell (NSH)" in serial_line:
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sys.exit(1) # error, command didn't complete successfully
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if len(serial_line) <= 0:
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ser.write("\r\n".encode("ascii"))
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ser.flush()
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if time.time() > timeout_start + timeout:
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print("Error, timeout")
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sys.exit(-1)
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ser.close()
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def main():
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parser = ArgumentParser(description=__doc__)
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parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
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parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
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parser.add_argument("--cmd", "-c", dest="cmd", help="Command to run")
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args = parser.parse_args()
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do_nsh_cmd(args.device, args.baudrate, args.cmd)
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if __name__ == "__main__":
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main()
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