Use crazyflie-link and crazyradio through the crazyflie-lib re-exports

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!).

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<crazyflie_lib::Crazyflie>,
-    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<crazyflie_lib::Crazyflie> = 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) => {

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();

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;

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<Box<dyn Future<Output = Result<()>> + 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<Box<dyn Future<Output = Result<()>> + 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<Box<dyn Future<Output = Result<()>> + 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<Box<dyn Future<Output = Result<()>> + 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<Box<dyn StabilityTest>>,
@@ -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,