diff --git a/Cargo.lock b/Cargo.lock index 26078b3..fe72a4c 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -412,7 +412,7 @@ dependencies = [ [[package]] name = "cfcli" -version = "0.11.1" +version = "0.12.0" dependencies = [ "anyhow", "async-stream", @@ -425,8 +425,6 @@ dependencies = [ "colored", "confy", "crazyflie-lib", - "crazyflie-link", - "crazyradio 0.7.0", "env_logger", "flume", "futures", @@ -721,9 +719,9 @@ dependencies = [ [[package]] name = "crazyflie-lib" -version = "0.8.0" +version = "0.8.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "63e1924ed55c8ef67ed9bf2561f2cc7aca148802f9c1ddf6a469bbaadba592ec" +checksum = "d127ba8e761396daa5b623b631d786c6aef3372443292813d4d067209b5f1013" dependencies = [ "async-broadcast", "async-stream", @@ -744,9 +742,9 @@ dependencies = [ [[package]] name = "crazyflie-link" -version = "0.5.0" +version = "0.5.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "899dd3e14b47a1be3ee0c78c34c5b4b6634899ea2f5aab4d033829dd3d3ff3f0" +checksum = "51c777bf6ea26a601a31642c2cab2500e099772e59b57b98a70fdfe1ea5e159e" dependencies = [ "async-trait", "bitflags 2.11.1", diff --git a/Cargo.toml b/Cargo.toml index 8b40a57..4fcce47 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -57,9 +57,7 @@ num_enum = "0.7.4" half = "2.6.0" env_logger = "0.11.8" anyhow = "1.0" -crazyflie-link = { version = "0.5.0", default-features = false } -crazyflie-lib = { version = "0.8.0", default-features = false } -crazyradio = { version = "0.7.0", features = ["async"] } +crazyflie-lib = "0.8.1" rusb = "0.9" cfloader = "0.1.0" clap = { version = "4.5.46", features = ["derive"] } @@ -87,8 +85,7 @@ hex = "0.4.3" chrono = "0.4.44" [target.'cfg(unix)'.dependencies] -crazyflie-link = { version = "0.5.0", default-features = false, features = ["packet_capture"] } -crazyradio = { version = "0.7.0", features = ["async", "packet_capture"] } +crazyflie-lib = { version = "0.8.1", features = ["packet_capture"] } # Used by build.rs to generate shell-completion scripts from the same clap # command tree as the binary (src/cli.rs is shared via include!). diff --git a/src/main.rs b/src/main.rs index 0fc7415..6818e6b 100644 --- a/src/main.rs +++ b/src/main.rs @@ -311,7 +311,7 @@ fn is_streaming_command(cmd: &Commands) -> bool { /// alongside other immutable accesses to `holder`. async fn connect_cf<'a>( holder: &'a mut Option, - link_context: &crazyflie_link::LinkContext, + link_context: &crazyflie_lib::crazyflie_link::LinkContext, uri: &str, toc_cache: ConfigTocCache, measure_connect_time: bool, @@ -545,9 +545,9 @@ async fn run() -> Result<()> { let toc_cache = ConfigTocCache::new(config.clone(), args.no_toc_cache); #[cfg(all(unix, feature = "packet_capture"))] - crazyflie_link::capture::init(); + crazyflie_lib::crazyflie_link::capture::init(); - let link_context = crazyflie_link::LinkContext::new(); + let link_context = crazyflie_lib::crazyflie_link::LinkContext::new(); let mut connected_cf: Option = None; let preserve_console = args.preserve_console; @@ -1280,12 +1280,12 @@ async fn run() -> Result<()> { match command { HlCommands::Arm => { println!("Arming Crazyflie..."); - cf.platform.send_arming_request(true).await?; + cf.supervisor.send_arming_request(true).await?; println!("Crazyflie armed!"); } HlCommands::Disarm => { println!("Disarming Crazyflie..."); - cf.platform.send_arming_request(false).await?; + cf.supervisor.send_arming_request(false).await?; println!("Crazyflie disarmed!"); } HlCommands::Takeoff(params) => { diff --git a/src/modules/bootloader.rs b/src/modules/bootloader.rs index 662e94f..9372257 100644 --- a/src/modules/bootloader.rs +++ b/src/modules/bootloader.rs @@ -2,7 +2,7 @@ use anyhow::{anyhow, bail, Result}; use crazyflie_lib::Crazyflie; use crazyflie_lib::subsystems::memory::{DeckMemory, MemoryType, RawMemory}; use tokio::time::{sleep, timeout, Duration}; -use crazyflie_link::{Connection, LinkContext, Packet}; +use crazyflie_lib::crazyflie_link::{Connection, LinkContext, Packet}; use byteorder::{LittleEndian, ByteOrder}; use crate::ConfigTocCache; @@ -238,7 +238,7 @@ fn print_target_info(name: &str, info: &BootloaderInfo) { println!(" CPU ID: 0x{:04X}", info.cpuid); } -pub async fn print_bootloader_info(link_context: &crazyflie_link::LinkContext, cold: bool, uri: &str) -> Result<()> { +pub async fn print_bootloader_info(link_context: &crazyflie_lib::crazyflie_link::LinkContext, cold: bool, uri: &str) -> Result<()> { let link = start_bootloader(link_context, cold, uri).await?; @@ -258,7 +258,7 @@ pub async fn print_bootloader_info(link_context: &crazyflie_link::LinkContext, c Ok(()) } -pub async fn reboot(link_context: &crazyflie_link::LinkContext, uri: &str,) -> Result<()> { +pub async fn reboot(link_context: &crazyflie_lib::crazyflie_link::LinkContext, uri: &str,) -> Result<()> { let link = link_context.open_link(uri).await?; send_command(&link, BootloaderCommand::ResetInit, None).await?; @@ -420,7 +420,7 @@ async fn flash_deck_ctrl( Ok(()) } -pub async fn flash(link_context: &crazyflie_link::LinkContext, uri: &str, toc_cache: ConfigTocCache, firmware_upgrade: FirmwareUpgrade, cold: bool) -> Result<()> { +pub async fn flash(link_context: &crazyflie_lib::crazyflie_link::LinkContext, uri: &str, toc_cache: ConfigTocCache, firmware_upgrade: FirmwareUpgrade, cold: bool) -> Result<()> { let firmware_for_bootloader = firmware_upgrade.get_firmware_for_bootloader(); let firmware_for_deckctrl = firmware_upgrade.get_firmware_for_deckctrl(); diff --git a/src/modules/crazyradio.rs b/src/modules/crazyradio.rs index a59b798..1f60288 100644 --- a/src/modules/crazyradio.rs +++ b/src/modules/crazyradio.rs @@ -1,5 +1,5 @@ use anyhow::{bail, Result}; -use crazyradio::{Channel, Crazyradio, Datarate}; +use crazyflie_lib::crazyflie_link::crazyradio::{Channel, Crazyradio, Datarate}; use std::time::Duration; const CRAZYRADIO_VID: u16 = 0x1915; diff --git a/src/modules/test.rs b/src/modules/test.rs index 33f4eed..eb28dc2 100644 --- a/src/modules/test.rs +++ b/src/modules/test.rs @@ -22,7 +22,7 @@ pub trait StabilityTest { fn run<'a>( &'a self, - link_context: &'a crazyflie_link::LinkContext, + link_context: &'a crazyflie_lib::crazyflie_link::LinkContext, uri: &'a str, ) -> Pin> + Send + 'a>>; } @@ -37,7 +37,7 @@ impl StabilityTest for ReconnectTest { fn run<'a>( &'a self, - link_context: &'a crazyflie_link::LinkContext, + link_context: &'a crazyflie_lib::crazyflie_link::LinkContext, uri: &'a str, ) -> Pin> + Send + 'a>> { Box::pin(async move { @@ -58,7 +58,7 @@ impl StabilityTest for ParamReadReadWriteTest { fn run<'a>( &'a self, - link_context: &'a crazyflie_link::LinkContext, + link_context: &'a crazyflie_lib::crazyflie_link::LinkContext, uri: &'a str, ) -> Pin> + Send + 'a>> { Box::pin(async move { @@ -98,7 +98,7 @@ impl StabilityTest for LoggingTest { fn run<'a>( &'a self, - link_context: &'a crazyflie_link::LinkContext, + link_context: &'a crazyflie_lib::crazyflie_link::LinkContext, uri: &'a str, ) -> Pin> + Send + 'a>> { Box::pin(async move { @@ -134,7 +134,7 @@ impl StabilityTest for LoggingTest { } pub async fn stability( - link_context: &crazyflie_link::LinkContext, + link_context: &crazyflie_lib::crazyflie_link::LinkContext, uri: &str, iterations: u32, ) -> Result<()> { @@ -148,7 +148,7 @@ pub async fn stability( } async fn run_stability_tests( - link_context: &crazyflie_link::LinkContext, + link_context: &crazyflie_lib::crazyflie_link::LinkContext, uri: &str, iterations: u32, tests: Vec>, @@ -213,7 +213,7 @@ struct RebootTestResult { } pub async fn reboot( - link_context: &crazyflie_link::LinkContext, + link_context: &crazyflie_lib::crazyflie_link::LinkContext, uri: &str, toc_cache: ConfigTocCache, iterations: u32,