Refactor cflib2 package: split flat re-exports into dedicated submodules

cflib2/__init__.py

@@ -22,51 +22,6 @@
 # along with this program. If not, see <http://www.gnu.org/licenses/>.
 """Crazyflie Python Library"""
 
-from cflib2._rust import (
-    Crazyflie,
-    LinkContext,
-    # TOC cache classes (passed to Crazyflie.connect_from_uri)
-    NoTocCache,
-    InMemoryTocCache,
-    FileTocCache,
-    # Exceptions
-    CrazyflieError,
-    ProtocolVersionNotSupportedError,
-    ProtocolError,
-    ParamError,
-    LogError,
-    ConversionError,
-    LinkError,
-    DisconnectedError,
-    VariableNotFoundError,
-    SystemError,
-    AppchannelPacketTooLargeError,
-    InvalidArgumentError,
-    TimeoutError,
-    MemoryError,
-    InvalidParameterError,
-)
+from cflib2._rust import Crazyflie, LinkContext
 
-__all__ = [
-    "Crazyflie",
-    "LinkContext",
-    "NoTocCache",
-    "InMemoryTocCache",
-    "FileTocCache",
-    # Exceptions
-    "CrazyflieError",
-    "ProtocolVersionNotSupportedError",
-    "ProtocolError",
-    "ParamError",
-    "LogError",
-    "ConversionError",
-    "LinkError",
-    "DisconnectedError",
-    "VariableNotFoundError",
-    "SystemError",
-    "AppchannelPacketTooLargeError",
-    "InvalidArgumentError",
-    "TimeoutError",
-    "MemoryError",
-    "InvalidParameterError",
-]
+__all__ = ["Crazyflie", "LinkContext"]

cflib2/trajectory.py → cflib2/commander.py

@@ -1,3 +1,5 @@
+# -*- coding: utf-8 -*-
+#
 # ,---------,       ____  _ __
 # |  ,-^-,  |      / __ )(_) /_______________ _____  ___
 # | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
@@ -18,8 +20,8 @@
 #
 # You should have received a copy of the GNU General Public License
 # along with this program. If not, see <http://www.gnu.org/licenses/>.
-"""Trajectory building primitives for the Crazyflie"""
+"""Commander subsystem types"""
 
-from cflib2._rust import Poly, Poly4D, CompressedStart, CompressedSegment
+from cflib2._rust import Commander
 
-__all__ = ["Poly", "Poly4D", "CompressedStart", "CompressedSegment"]
+__all__ = ["Commander"]

cflib2/console.py

@@ -0,0 +1,27 @@
+# -*- coding: utf-8 -*-
+#
+# ,---------,       ____  _ __
+# |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+# | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+# | / ,--'  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+# Copyright (C) 2025 Bitcraze AB
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+"""Console subsystem types"""
+
+from cflib2._rust import Console
+
+__all__ = ["Console"]

cflib2/error.py

@@ -0,0 +1,59 @@
+# -*- coding: utf-8 -*-
+#
+# ,---------,       ____  _ __
+# |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+# | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+# | / ,--'  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+# Copyright (C) 2025 Bitcraze AB
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+"""Crazyflie exception types"""
+
+from cflib2._rust import (
+    AppchannelPacketTooLargeError,
+    ConversionError,
+    CrazyflieError,
+    DisconnectedError,
+    InvalidArgumentError,
+    InvalidParameterError,
+    LinkError,
+    LogError,
+    MemoryError,
+    ParamError,
+    ProtocolError,
+    ProtocolVersionNotSupportedError,
+    SystemError,
+    TimeoutError,
+    VariableNotFoundError,
+)
+
+__all__ = [
+    "AppchannelPacketTooLargeError",
+    "ConversionError",
+    "CrazyflieError",
+    "DisconnectedError",
+    "InvalidArgumentError",
+    "InvalidParameterError",
+    "LinkError",
+    "LogError",
+    "MemoryError",
+    "ParamError",
+    "ProtocolError",
+    "ProtocolVersionNotSupportedError",
+    "SystemError",
+    "TimeoutError",
+    "VariableNotFoundError",
+]

cflib2/high_level_commander.py

@@ -0,0 +1,27 @@
+# -*- coding: utf-8 -*-
+#
+# ,---------,       ____  _ __
+# |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+# | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+# | / ,--'  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+# Copyright (C) 2025 Bitcraze AB
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+"""High-level commander subsystem types"""
+
+from cflib2._rust import HighLevelCommander
+
+__all__ = ["HighLevelCommander"]

cflib2/localization.py

@@ -0,0 +1,43 @@
+# -*- coding: utf-8 -*-
+#
+# ,---------,       ____  _ __
+# |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+# | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+# | / ,--'  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+# Copyright (C) 2025 Bitcraze AB
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+"""Localization subsystem types"""
+
+from cflib2._rust import (
+    EmergencyControl,
+    ExternalPose,
+    Lighthouse,
+    LighthouseAngleData,
+    LighthouseAngles,
+    Localization,
+    LocoPositioning,
+)
+
+__all__ = [
+    "EmergencyControl",
+    "ExternalPose",
+    "Lighthouse",
+    "LighthouseAngleData",
+    "LighthouseAngles",
+    "Localization",
+    "LocoPositioning",
+]

cflib2/log.py

@@ -0,0 +1,27 @@
+# -*- coding: utf-8 -*-
+#
+# ,---------,       ____  _ __
+# |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+# | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+# | / ,--'  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+# Copyright (C) 2025 Bitcraze AB
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+"""Log subsystem types"""
+
+from cflib2._rust import Log, LogBlock, LogData, LogStream
+
+__all__ = ["Log", "LogBlock", "LogData", "LogStream"]

cflib2/memory.py

@@ -0,0 +1,27 @@
+# -*- coding: utf-8 -*-
+#
+# ,---------,       ____  _ __
+# |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+# | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+# | / ,--'  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+# Copyright (C) 2025 Bitcraze AB
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+"""Memory subsystem types"""
+
+from cflib2._rust import CompressedSegment, CompressedStart, Memory, Poly, Poly4D
+
+__all__ = ["CompressedSegment", "CompressedStart", "Memory", "Poly", "Poly4D"]

cflib2/param.py

@@ -0,0 +1,27 @@
+# -*- coding: utf-8 -*-
+#
+# ,---------,       ____  _ __
+# |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+# | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+# | / ,--'  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+# Copyright (C) 2025 Bitcraze AB
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+"""Parameter subsystem types"""
+
+from cflib2._rust import Param, PersistentParamState
+
+__all__ = ["Param", "PersistentParamState"]

cflib2/platform.py

@@ -0,0 +1,27 @@
+# -*- coding: utf-8 -*-
+#
+# ,---------,       ____  _ __
+# |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+# | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+# | / ,--'  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+# Copyright (C) 2025 Bitcraze AB
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+"""Platform subsystem types"""
+
+from cflib2._rust import AppChannel, Platform
+
+__all__ = ["AppChannel", "Platform"]

cflib2/toc_cache.py

@@ -0,0 +1,27 @@
+# -*- coding: utf-8 -*-
+#
+# ,---------,       ____  _ __
+# |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+# | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+# | / ,--'  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+# Copyright (C) 2025 Bitcraze AB
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+"""TOC cache types"""
+
+from cflib2._rust import FileTocCache, InMemoryTocCache, NoTocCache
+
+__all__ = ["FileTocCache", "InMemoryTocCache", "NoTocCache"]

examples/swarm.py

@@ -40,7 +40,8 @@
 
 import tyro
 
-from cflib2 import Crazyflie, LinkContext, FileTocCache, NoTocCache
+from cflib2 import Crazyflie, LinkContext
+from cflib2.toc_cache import FileTocCache, NoTocCache
 
 
 @dataclass

examples/toc_cache.py

@@ -49,7 +49,8 @@
 
 import tyro
 
-from cflib2 import Crazyflie, LinkContext, NoTocCache, InMemoryTocCache, FileTocCache
+from cflib2 import Crazyflie, LinkContext
+from cflib2.toc_cache import FileTocCache, InMemoryTocCache, NoTocCache
 
 
 @dataclass