text: #! /usr/bin/python
  
  import serial, time
  import subprocess
  from subprocess import call, Popen
  from argparse import ArgumentParser
  import re
  import unittest
  import os
  
  def do_test(port, baudrate, test_name):
      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 test
      ser.write('tests ' + test_name + '\n')
      time.sleep(0.05)
  
      finished = 0
      timeout = 300  # 5 minutes
      timeout_start = time.time()
      timeout_newline = time.time()
  
      while finished == 0:
          serial_line = ser.readline()
          print(serial_line.replace('\n',''))
  
          if test_name + " PASSED" in serial_line:
              finished = 1
              success = True
          elif test_name + " FAILED" in serial_line:
              finished = 1
              success = False
  
          if time.time() > timeout_start + timeout:
              print("Error, timeout")
              print(test_name + " FAILED")
              finished = 1
              success = False
              break
  
          # newline every 30 seconds if still running
          if time.time() - timeout_newline > 30:
              ser.write('\n')
              timeout_newline = time.time()
  
      ser.close()
  
      return success
  
  class TestHadrwareMethods(unittest.TestCase):
      TEST_DEVICE = 0
      TEST_BAUDRATE = 0
  
      def test_bezier(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bezier"))
  
      def test_bson(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))
  
      def test_commander(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "commander"))
  
      def test_controllib(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "controllib"))
  
  #    def test_dataman(self):
  #        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
  
      def floattest_float(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "float"))
  
      def hrttest_hrt(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "hrt"))
  
      def test_hrt(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "hrt"))
  
      def test_IntrusiveQueue(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "IntrusiveQueue"))
  
      def test_List(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "List"))
  
      def test_mathlib(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "mathlib"))
  
      def test_matrix(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "matrix"))
  
      def test_microbench_atomic(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_atomic"))
  
      def test_microbench_hrt(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_hrt"))
  
      def test_microbench_math(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_math"))
  
      def test_microbench_matrix(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_matrix"))
  
      def test_microbench_uorb(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_uorb"))
  
  #    def test_mixer(self):
  #        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "mixer"))
  
      def test_param(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "param"))
  
      def test_parameters(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "parameters"))
  
      def test_perf(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "perf"))
  
      def search_mintest_xxx(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "search_min"))
  
      def test_sleep(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "sleep"))
  
      def test_smoothz(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "smoothz"))
  
      def test_time(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "time"))
  
      #def test_uorb(self):
      #    self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "uorb"))
  
      def test_versioning(self):
          self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))
  
  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)
      args = parser.parse_args()
  
      TestHadrwareMethods.TEST_DEVICE = args.device
      TestHadrwareMethods.TEST_BAUDRATE =  args.baudrate
  
      unittest.main(__name__, argv=['main'])
  
  if __name__ == "__main__":
     main()
  