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#!/usr/bin/env python
"""
Open a shell over MAVLink.
@author: Beat Kueng (beat-kueng@gmx.net)
"""
from __future__ import print_function
import sys, select
import termios
from timeit import default_timer as timer
try:
from pymavlink import mavutil
import serial
except:
print("Failed to import pymavlink.")
print("You may need to install it with 'pip install pymavlink pyserial'")
print("")
raise
from argparse import ArgumentParser
class MavlinkSerialPort():
'''an object that looks like a serial port, but
transmits using mavlink SERIAL_CONTROL packets'''
def __init__(self, portname, baudrate, devnum=0, debug=0):
self.baudrate = 0
self._debug = debug
self.buf = ''
self.port = devnum
self.debug("Connecting with MAVLink to %s ..." % portname)
self.mav = mavutil.mavlink_connection(portname, autoreconnect=True, baud=baudrate)
self.mav.wait_heartbeat()
self.debug("HEARTBEAT OK\n")
self.debug("Locked serial device\n")
def debug(self, s, level=1):
'''write some debug text'''
if self._debug >= level:
print(s)
def write(self, b):
'''write some bytes'''
self.debug("sending '%s' (0x%02x) of len %u\n" % (b, ord(b[0]), len(b)), 2)
while len(b) > 0:
n = len(b)
if n > 70:
n = 70
buf = [ord(x) for x in b[:n]]
buf.extend([0]*(70-len(buf)))
self.mav.mav.serial_control_send(self.port,
mavutil.mavlink.SERIAL_CONTROL_FLAG_EXCLUSIVE |
mavutil.mavlink.SERIAL_CONTROL_FLAG_RESPOND,
0,
0,
n,
buf)
b = b[n:]
def close(self):
self.mav.mav.serial_control_send(self.port, 0, 0, 0, 0, [0]*70)
def _recv(self):
'''read some bytes into self.buf'''
m = self.mav.recv_match(condition='SERIAL_CONTROL.count!=0',
type='SERIAL_CONTROL', blocking=True,
timeout=0.03)
if m is not None:
if self._debug > 2:
print(m)
data = m.data[:m.count]
self.buf += ''.join(str(chr(x)) for x in data)
def read(self, n):
'''read some bytes'''
if len(self.buf) == 0:
self._recv()
if len(self.buf) > 0:
if n > len(self.buf):
n = len(self.buf)
ret = self.buf[:n]
self.buf = self.buf[n:]
if self._debug >= 2:
for b in ret:
self.debug("read 0x%x" % ord(b), 2)
return ret
return ''
def main():
parser = ArgumentParser(description=__doc__)
parser.add_argument('port', metavar='PORT', nargs='?', default = None,
help='Mavlink port name: serial: DEVICE[,BAUD], udp: IP:PORT, tcp: tcp:IP:PORT. Eg: \
/dev/ttyUSB0 or 0.0.0.0:14550. Auto-detect serial if not given.')
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int,
help="Mavlink port baud rate (default=57600)", default=57600)
args = parser.parse_args()
if args.port == None:
if sys.platform == "darwin":
args.port = "/dev/tty.usbmodem1"
else:
serial_list = mavutil.auto_detect_serial(preferred_list=['*FTDI*',
"*Arduino_Mega_2560*", "*3D_Robotics*", "*USB_to_UART*", '*PX4*', '*FMU*', "*Gumstix*"])
if len(serial_list) == 0:
print("Error: no serial connection found")
return
if len(serial_list) > 1:
print('Auto-detected serial ports are:')
for port in serial_list:
print(" {:}".format(port))
print('Using port {:}'.format(serial_list[0]))
args.port = serial_list[0].device
print("Connecting to MAVLINK...")
mav_serialport = MavlinkSerialPort(args.port, args.baudrate, devnum=10)
mav_serialport.write('\n') # make sure the shell is started
# setup the console, so we can read one char at a time
fd_in = sys.stdin.fileno()
old_attr = termios.tcgetattr(fd_in)
new_attr = termios.tcgetattr(fd_in)
new_attr[3] = new_attr[3] & ~termios.ECHO # lflags
new_attr[3] = new_attr[3] & ~termios.ICANON
try:
termios.tcsetattr(fd_in, termios.TCSANOW, new_attr)
cur_line = ''
command_history = []
cur_history_index = 0
def erase_last_n_chars(N):
if N == 0: return
CURSOR_BACK_N = '\x1b['+str(N)+'D'
ERASE_END_LINE = '\x1b[K'
sys.stdout.write(CURSOR_BACK_N + ERASE_END_LINE)
next_heartbeat_time = timer()
while True:
while True:
i, o, e = select.select([sys.stdin], [], [], 0)
if not i: break
ch = sys.stdin.read(1)
# provide a simple shell with command history
if ch == '\n':
if len(cur_line) > 0:
# erase current text (mavlink shell will echo it as well)
erase_last_n_chars(len(cur_line))
# add to history
if len(command_history) == 0 or command_history[-1] != cur_line:
command_history.append(cur_line)
if len(command_history) > 50:
del command_history[0]
cur_history_index = len(command_history)
mav_serialport.write(cur_line+'\n')
cur_line = ''
elif ord(ch) == 127: # backslash
if len(cur_line) > 0:
erase_last_n_chars(1)
cur_line = cur_line[:-1]
sys.stdout.write(ch)
elif ord(ch) == 27:
ch = sys.stdin.read(1) # skip one
ch = sys.stdin.read(1)
if ch == 'A': # arrow up
if cur_history_index > 0:
cur_history_index -= 1
elif ch == 'B': # arrow down
if cur_history_index < len(command_history):
cur_history_index += 1
# TODO: else: support line editing
erase_last_n_chars(len(cur_line))
if cur_history_index == len(command_history):
cur_line = ''
else:
cur_line = command_history[cur_history_index]
sys.stdout.write(cur_line)
elif ord(ch) > 3:
cur_line += ch
sys.stdout.write(ch)
sys.stdout.flush()
data = mav_serialport.read(4096)
if data and len(data) > 0:
sys.stdout.write(data)
sys.stdout.flush()
# handle heartbeat sending
heartbeat_time = timer()
if heartbeat_time > next_heartbeat_time:
mav_serialport.mav.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GCS,
mavutil.mavlink.MAV_AUTOPILOT_GENERIC, 0, 0, 0)
next_heartbeat_time = heartbeat_time + 1
except serial.serialutil.SerialException as e:
print(e)
except KeyboardInterrupt:
mav_serialport.close()
finally:
termios.tcsetattr(fd_in, termios.TCSADRAIN, old_attr)
if __name__ == '__main__':
main()