#!/usr/bin/env python3

import sys
import time

from pymavlink import mavutil

if len(sys.argv) != 2:
    sys.exit(f"usage: {sys.argv[0]} <serial-device>")

connection = mavutil.mavlink_connection(sys.argv[1], baud=115200)
next_timesync = 0.0
next_ping = 0.0
ping_sequence = 0

while True:
    now = time.monotonic()
    if now >= next_timesync:
        connection.mav.timesync_send(0, time.monotonic_ns() // 1_000)
        next_timesync = now + 0.2

    if now >= next_ping:
        connection.mav.ping_send(
            int(time.time_ns() // 1_000),
            ping_sequence,
            0,
            0,
        )
        ping_sequence = (ping_sequence + 1) & 0xFFFFFFFF
        next_ping = now + 0.1

    while message := connection.recv_match(blocking=False):
        print(message)

    time.sleep(0.01)