In the ESP32 version of NodeMCU (the lua interpreter) you can do this by calling a function to process an input string placed into a certain buffer and by 1) creating a function that accepts the same parameters as stdout and returns an integer 2) passing that function to esp_vfs_register, so that commands like printf write to that function instead of stdout, and it can call the old stdio, which writes to the uart interface

This way you can have a task running in FreeRTOS that takes data received via the built in bluetooth running in classic mode and issue commands to the interpreter itself, for example

How difficult would it be to do something similar within micropython?