Tools/HIL: use pyserial spy:// to log all serial traffic and dump on failure

.ci/Jenkinsfile-hardware

@@ -73,6 +73,9 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
                 }
@@ -142,6 +145,9 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
                 }
@@ -211,6 +217,9 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
                 }
@@ -279,6 +288,9 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
                 }
@@ -348,6 +360,9 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
                 }
@@ -437,6 +452,9 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
                 }
@@ -518,6 +536,9 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
                 }
@@ -587,6 +608,9 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
                 }
@@ -656,6 +680,9 @@ pipeline {
                 }
               }
               post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                 always {
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
                 }
@@ -723,11 +750,15 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
   // status commands
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
@@ -738,8 +769,11 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
@@ -917,10 +951,6 @@ void printTopics() {
 }
 
 void resetBoard() {
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
-
   resetParameters()
 
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
@@ -930,12 +960,4 @@ void resetBoard() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
   sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-  // check SD card
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
 }

Tools/HIL/monitor_firmware_upload.py

@@ -8,6 +8,7 @@ import re
 import sys
 import datetime
 import serial.tools.list_ports as list_ports
+import tempfile
 
 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -38,8 +39,8 @@ def print_line(line):
         print('{0}'.format(line), end='')
 
 
-def monitor_firmware_upload(port, baudrate):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=False, rtscts=False, dsrdtr=False)
+def monitor_firmware_upload(port_url, baudrate):
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
 
     timeout = 180  # 3 minutes
     timeout_start = time.monotonic()
@@ -61,15 +62,16 @@ def monitor_firmware_upload(port, baudrate):
             elif "nsh>" in serial_line:
                 sys.exit(return_code)
 
+        else:
             if time.monotonic() > timeout_start + timeout:
                 print("Error, timeout")
                 sys.exit(-1)
 
             # newline every 10 seconds if still running
-        if time.monotonic() - timeout_newline > 10:
+            if (len(serial_line) <= 0) and (time.monotonic() - timeout_newline > 10):
                 timeout_newline = time.monotonic()
                 ser.write("\n".encode("ascii"))
-            ser.flush()
+
 
 def main():
 
@@ -96,10 +98,15 @@ def main():
 
     parser = ArgumentParser(description=__doc__)
     parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
     args = parser.parse_args()
 
-    monitor_firmware_upload(args.device, args.baudrate)
+    tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
+    port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
+
+    print("pyserial url: {0}".format(port_url))
+
+    monitor_firmware_upload(port_url, args.baudrate)
 
 if __name__ == "__main__":
    main()

Tools/HIL/nsh_param_set.py

@@ -8,6 +8,7 @@ import re
 import sys
 import datetime
 import serial.tools.list_ports as list_ports
+import tempfile
 
 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -38,29 +39,29 @@ def print_line(line):
         print('{0}'.format(line), end='')
 
 
-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=1, xonxoff=False, rtscts=False, dsrdtr=False)
+def do_param_set_cmd(port_url, baudrate, param_name, param_value):
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
 
     timeout_start = time.monotonic()
     timeout = 30  # 30 seconds
 
+    ser.write("\n\n\n".encode("ascii"))
+
     # wait for nsh prompt
     while True:
-        ser.write("\n".encode("ascii"))
-        ser.flush()
-
         serial_line = ser.readline().decode("ascii", errors='ignore')
 
+        if len(serial_line) > 0:
             if "nsh>" in serial_line:
                 break
         else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
-
             if time.monotonic() > timeout_start + timeout:
                 print("Error, timeout waiting for prompt")
                 sys.exit(1)
 
+            ser.write("\n".encode("ascii"))
+
+
     # clear
     ser.reset_input_buffer()
 
@@ -72,28 +73,32 @@ def do_param_set_cmd(port, baudrate, 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)
+    serial_cmd = '{0}\n'.format(cmd)
+
     ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
+
     while True:
         serial_line = ser.readline().decode("ascii", errors='ignore')
 
+        if len(serial_line) > 0:
             if cmd in serial_line:
-            print_line(serial_line)
                 break
-        else:
-            if len(serial_line) > 0:
+
             print_line(serial_line)
 
+        else:
             if time.monotonic() > timeout_start + timeout:
                 print("Error, timeout waiting for command echo")
                 break
 
+    # clear
+    ser.reset_input_buffer()
+
     # verify param value
     cmd = "param show " + param_name
-    serial_cmd = '{0}\r\n'.format(cmd)
+    print("Running command: \'{0}\'".format(cmd))
+    serial_cmd = '{0}\n'.format(cmd)
     ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
 
     param_show_response = param_name + " ["
 
@@ -103,8 +108,10 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
     while True:
         serial_line = ser.readline().decode("ascii", errors='ignore')
 
-        if param_show_response in serial_line:
+        if len(serial_line) > 0:
             print_line(serial_line)
+
+            if param_show_response in serial_line:
                 current_param_value = serial_line.split(":")[-1].strip()
 
                 if (current_param_value == param_value):
@@ -112,25 +119,16 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
                 else:
                     sys.exit(1)
             else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
-
                 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
-
+        else:
             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()
-            time.sleep(0.2)
-
-    ser.close()
 
 def main():
 
@@ -157,12 +155,17 @@ def main():
 
     parser = ArgumentParser(description=__doc__)
     parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
     parser.add_argument("--name", "-p", dest="param_name", help="Parameter name")
     parser.add_argument("--value", "-v", dest="param_value", help="Parameter value")
     args = parser.parse_args()
 
-    do_param_set_cmd(args.device, args.baudrate, args.param_name, args.param_value)
+    tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
+    port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
+
+    print("pyserial url: {0}".format(port_url))
+
+    do_param_set_cmd(port_url, args.baudrate, args.param_name, args.param_value)
 
 if __name__ == "__main__":
    main()

Tools/HIL/reboot.py

@@ -8,6 +8,7 @@ import re
 import sys
 import datetime
 import serial.tools.list_ports as list_ports
+import tempfile
 
 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -38,14 +39,13 @@ def print_line(line):
         print('{0}'.format(line), end='')
 
 
-def reboot(port, baudrate):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=False, rtscts=False, dsrdtr=False)
-
-    # clear
-    ser.reset_input_buffer()
+def reboot(port_url, baudrate):
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
 
     time_start = time.monotonic()
-    ser.write("\n".encode("ascii"))
+
+    ser.write("\n\n\n".encode("ascii"))
+
     ser.write("reboot\n".encode("ascii"))
     time_reboot_cmd = time_start
 
@@ -55,27 +55,28 @@ def reboot(port, baudrate):
     return_code = 0
 
     while True:
-        if time.monotonic() > time_reboot_cmd + timeout_reboot_cmd:
-            time_reboot_cmd = time.monotonic()
-            print("sending reboot cmd again")
-            ser.write("reboot\n".encode("ascii"))
-            time.sleep(0.5)
-
         serial_line = ser.readline().decode("ascii", errors='ignore')
 
         if len(serial_line) > 0:
+            print_line(serial_line)
+
             if "ERROR" in serial_line:
                 return_code = -1
 
-            print_line(serial_line)
-
             if "NuttShell (NSH)" in serial_line:
                 sys.exit(return_code)
 
+        else:
             if time.monotonic() > time_start + timeout:
                 print("Error, timeout")
                 sys.exit(-1)
 
+            if time.monotonic() > time_reboot_cmd + timeout_reboot_cmd:
+                time_reboot_cmd = time.monotonic()
+                print("sending reboot cmd again")
+                ser.write("reboot\n".encode("ascii"))
+
+
 def main():
 
     default_device = None

Tools/HIL/run_nsh_cmd.py

@@ -8,6 +8,7 @@ import re
 import sys
 import datetime
 import serial.tools.list_ports as list_ports
+import tempfile
 
 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -38,46 +39,47 @@ def print_line(line):
         print('{0}'.format(line), end='')
 
 
-def do_nsh_cmd(port, baudrate, cmd):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=False, rtscts=False, dsrdtr=False)
+def do_nsh_cmd(port_url, baudrate, cmd):
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
 
     timeout_start = time.monotonic()
     timeout = 30  # 30 seconds
 
+    ser.write("\n\n\n".encode("ascii"))
+
     # wait for nsh prompt
     while True:
-        ser.write("\n".encode("ascii"))
-        ser.flush()
-
         serial_line = ser.readline().decode("ascii", errors='ignore')
 
+        if len(serial_line) > 0:
             if "nsh>" in serial_line:
                 break
         else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
-
             if time.monotonic() > timeout_start + timeout:
                 print("Error, timeout waiting for prompt")
                 sys.exit(1)
 
+            ser.write("\n".encode("ascii"))
+
+
     # clear
     ser.reset_input_buffer()
 
     # run command
     timeout_start = time.monotonic()
-    timeout = 1  # 1 second
+    timeout = 5  # 5 seconds
 
     success_cmd = "cmd succeeded!"
 
     # wait for command echo
     print("Running command: \'{0}\'".format(cmd))
-    serial_cmd = '{0}; echo "{1}"; echo "{2}";\r\n'.format(cmd, success_cmd, success_cmd)
+    serial_cmd = '{0}; echo "{1}"; echo "{2}";\n'.format(cmd, success_cmd, success_cmd)
     ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
+
     while True:
         serial_line = ser.readline().decode("ascii", errors='ignore')
 
+        if len(serial_line) > 0:
             if cmd in serial_line:
                 break
             elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
@@ -85,10 +87,9 @@ def do_nsh_cmd(port, baudrate, cmd):
                 # we missed the echo, but command ran and succeeded
                 sys.exit(0)
             else:
-            if len(serial_line) > 0:
                 print_line(serial_line)
-
-        if (len(serial_line) <= 0) and (time.monotonic() > timeout_start + timeout):
+        else:
+            if time.monotonic() > timeout_start + timeout:
                 print("Error, timeout waiting for command echo")
                 break
 
@@ -101,11 +102,10 @@ def do_nsh_cmd(port, baudrate, cmd):
     while True:
         serial_line = ser.readline().decode("ascii", errors='ignore')
 
+        if len(serial_line) > 0:
             if success_cmd in serial_line:
                 sys.exit(return_code)
-            break
             else:
-            if len(serial_line) > 0:
                 if "ERROR " in serial_line:
                     return_code = -1
 
@@ -115,17 +115,11 @@ def do_nsh_cmd(port, baudrate, cmd):
                     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 (len(serial_line) <= 0) and (time.monotonic() > timeout_start + timeout):
+        else:
+            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()
-            time.sleep(0.2)
-
-    ser.close()
 
 def main():
 
@@ -152,11 +146,16 @@ def main():
 
     parser = ArgumentParser(description=__doc__)
     parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial 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)
+    tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
+    port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
+
+    print("pyserial url: {0}".format(port_url))
+
+    do_nsh_cmd(port_url, args.baudrate, args.cmd)
 
 if __name__ == "__main__":
    main()

Tools/HIL/run_tests.py

@@ -10,6 +10,8 @@ import os
 import sys
 import datetime
 import serial.tools.list_ports as list_ports
+import tempfile
+import warnings
 
 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -40,34 +42,36 @@ def print_line(line):
         print('{0}'.format(line), end='')
 
 
-def do_test(port, baudrate, test_name):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=False, rtscts=False, dsrdtr=False)
+def do_test(port_url, baudrate, test_name):
+
+    # ignore pyserial spy:// resource warnings
+    warnings.filterwarnings(action="ignore", message="unclosed", category=ResourceWarning)
+
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
 
     timeout_start = time.monotonic()
     timeout = 30  # 30 seconds
 
+    ser.write("\n\n\n".encode("ascii"))
+
     # wait for nsh prompt
     while True:
-        ser.write("\n".encode("ascii"))
-        ser.flush()
-
         serial_line = ser.readline().decode("ascii", errors='ignore')
 
+        if len(serial_line) > 0:
             if "nsh>" in serial_line:
                 break
         else:
-            if len(serial_line) > 0:
-                print(serial_line, end='')
-
             if time.monotonic() > timeout_start + timeout:
                 print("Error, timeout waiting for prompt")
                 return False
 
+            ser.write("\n".encode("ascii"))
+
+
     # clear
     ser.reset_input_buffer()
 
-    success = False
-
     # run test cmd
     print('\n|======================================================================')
     cmd = 'tests ' + test_name
@@ -81,21 +85,18 @@ def do_test(port, baudrate, test_name):
     print("Running command: \'{0}\'".format(cmd))
     serial_cmd = '{0}\n'.format(cmd)
     ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
+
     while True:
         serial_line = ser.readline().decode("ascii", errors='ignore')
 
+        if len(serial_line) > 0:
             if cmd in serial_line:
                 break
         else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
-
             if time.monotonic() > timeout_start + timeout:
                 print("Error, timeout waiting for command echo")
                 break
 
-
     # print results, wait for final result (PASSED or FAILED)
     timeout = 300  # 5 minutes
     timeout_start = time.monotonic()
@@ -108,26 +109,25 @@ def do_test(port, baudrate, test_name):
             print_line(serial_line)
 
             if test_name + " PASSED" in serial_line:
-            success = True
-            break
+                ser.close()
+                return True
             elif test_name + " FAILED" in serial_line:
-            success = False
-            break
-
+                ser.close()
+                return False
+        else:
             if time.monotonic() > timeout_start + timeout:
                 print("Error, timeout")
                 print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
-            success = False
-            break
+                ser.close()
+                return False
 
-        # newline every 10 seconds if still running
-        if (len(serial_line) <= 0) and (time.monotonic() - timeout_newline > 10):
+            # newline every 30 seconds if still running
+            if time.monotonic() - timeout_newline > 30:
                 ser.write("\n".encode("ascii"))
                 timeout_newline = time.monotonic()
 
     ser.close()
-
-    return success
+    return False
 
 class TestHardwareMethods(unittest.TestCase):
     TEST_DEVICE = 0
@@ -233,10 +233,15 @@ def main():
 
     parser = ArgumentParser(description=__doc__)
     parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
     args = parser.parse_args()
 
-    TestHardwareMethods.TEST_DEVICE = args.device
+    tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
+    port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
+
+    print("pyserial url: {0}".format(port_url))
+
+    TestHardwareMethods.TEST_DEVICE = port_url
     TestHardwareMethods.TEST_BAUDRATE = args.baudrate
 
     unittest.main(__name__, failfast=True, verbosity=0, argv=['main'])