Merge pull request #262 from NicolasM0/server_restart

add mavsdk_server restart if already running at connection

Author: julianoes

mavsdk/system.py

@@ -47,6 +47,7 @@ def __init__(self, mavsdk_server_address=None, port=50051):
         self._port = port
 
         self._plugins = {}
+        self._server_process = None
 
     async def connect(self, system_address=None):
         """
@@ -63,12 +64,30 @@ async def connect(self, system_address=None):
                 - TCP: tcp://[server_host][:server_port]
 
         """
+
+        if self._server_process is not None:
+            # a mavsdk_server have already been launch by this instance:
+            # --> clean all before trying to reconnect
+            self._stop_mavsdk_server()
+
+            # add a delay to be sure recourses have been freed and restart mavsdk_server
+            import time; time.sleep(1)
+
         if self._mavsdk_server_address is None:
             self._mavsdk_server_address = 'localhost'
-            self._start_mavsdk_server(system_address,self._port)
+            self._server_process = self._start_mavsdk_server(system_address,self._port)
 
         await self._init_plugins(self._mavsdk_server_address, self._port)
 
+    def _stop_mavsdk_server(self):
+        """
+        kill the running mavsdk_server and clean the whole instance
+        """
+        import subprocess
+        if isinstance(self._server_process,subprocess.Popen):
+            self._server_process.kill()
+            self.__init__(port = self._port)
+
     async def _init_plugins(self, host, port):
         plugin_manager = await AsyncPluginManager.create(host=host, port=port)
 
@@ -260,3 +279,5 @@ def cleanup():
             p.kill()
 
         atexit.register(cleanup)
+
+        return p