Upstream upadte

.github/workflows/nightly.yml

@@ -0,0 +1,87 @@
+# Run check and build of the lib using the Bitcraze builder docker image
+name: Nightly Build
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 2 * * *'
+
+jobs:
+  build-and-test:
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, lab-mac, windows-latest]
+        python-version: ["3.10", "3.11", "3.12", "3.13"]
+
+    runs-on: ${{ matrix.os }}
+
+    steps:
+    - name: Checkout repo
+      uses: actions/checkout@v4
+
+    - name: Set up Python ${{ matrix.python-version }}
+      if: runner.os == 'Linux' || runner.os == 'Windows'
+      uses: actions/setup-python@v5
+      with:
+        python-version: ${{ matrix.python-version }}
+
+    - name: Set up Python ${{ matrix.python-version }} and venv on macOS
+      if: runner.os == 'macOS'
+      run: |
+        brew install python@${{ matrix.python-version }}
+        $(brew --prefix)/bin/python${{ matrix.python-version }} -m venv venv
+        echo "PATH=$(pwd)/venv/bin:$PATH" >> $GITHUB_ENV
+
+    - name: Set up MSVC environment (Windows)
+      uses: ilammy/msvc-dev-cmd@v1
+      with:
+        arch: x64
+      if: runner.os == 'Windows'
+
+    - name: Install dependencies
+      run: |
+        python3 -m pip install --upgrade pip build setuptools
+        python3 -m pip install pre-commit
+
+    - name: Code quality checks
+      run: pre-commit run --all-files
+
+    - name: Build wheel
+      run: python3 -m build --wheel
+
+    - name: Install the built wheel
+      run: |
+        # Find the built wheel
+        WHEEL_FILE=$(ls dist/*.whl | head -n 1)
+        echo "Installing wheel: $WHEEL_FILE"
+        pip install "$WHEEL_FILE"
+      shell: bash
+      if: runner.os != 'Windows'
+
+    - name: Install the built wheel (Windows)
+      run: |
+        for /f %%i in ('dir /b dist\*.whl') do set WHEEL_FILE=dist\%%i
+        echo Installing wheel: %WHEEL_FILE%
+        pip install %WHEEL_FILE%
+      shell: cmd
+      if: runner.os == 'Windows'
+
+    - name: Test
+      run: python3 -m unittest discover test/
+
+  build-docs:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repo
+        uses: actions/checkout@v4
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.x'
+      - name: Install dependencies
+        run: |
+          python3 -m pip install --upgrade pip setuptools
+          python3 -m pip install pdoc3 pyyaml
+      - name: Build docs
+        run: ./tools/build-docs/build-docs

.github/workflows/python-publish.yml

@@ -18,9 +18,16 @@ jobs:
   deploy:
 
     runs-on: ubuntu-latest
+    environment:
+      name: pypi
+      url: https://pypi.org/p/cflib
+    permissions:
+      id-token: write
 
     steps:
     - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
     - name: Set up Python
       uses: actions/setup-python@v4
       with:
@@ -34,5 +41,4 @@ jobs:
     - name: Publish package
       uses: pypa/gh-action-pypi-publish@release/v1
       with:
-        username: __token__
-        password: ${{ secrets.PYPI_TOKEN }}
+        verbose: true

.github/workflows/test-python-publish.yml

@@ -18,9 +18,16 @@ jobs:
   deploy:
 
     runs-on: ubuntu-latest
+    environment:
+      name: pypi-test
+      url: https://pypi.org/p/cflib
+    permissions:
+      id-token: write
 
     steps:
     - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
     - name: Set up Python
       uses: actions/setup-python@v4
       with:
@@ -34,6 +41,5 @@ jobs:
     - name: Publish package to TestPyPI
       uses: pypa/gh-action-pypi-publish@release/v1
       with:
-        username: __token__
-        password: ${{ secrets.PYPI_TEST_TOKEN }}
-        repository_url: https://test.pypi.org/legacy/
+        repository-url: https://test.pypi.org/legacy/
+        verbose: true

cflib/crazyflie/__init__.py

@@ -109,7 +109,7 @@ def __init__(self, link=None, ro_cache=None, rw_cache=None):
                                    rw_cache=rw_cache)
 
         self.incoming = _IncomingPacketHandler(self)
-        self.incoming.setDaemon(True)
+        self.incoming.daemon = True
         if self.link:
             self.incoming.start()
 

cflib/crazyflie/param.py

@@ -520,7 +520,7 @@ class _ExtendedTypeFetcher(Thread):
 
     def __init__(self, cf, toc):
         Thread.__init__(self)
-        self.setDaemon(True)
+        self.daemon = True
         self._lock = Lock()
 
         self._cf = cf
@@ -599,7 +599,7 @@ class _ParamUpdater(Thread):
     def __init__(self, cf, useV2, updated_callback):
         """Initialize the thread"""
         Thread.__init__(self)
-        self.setDaemon(True)
+        self.daemon = True
         self.wait_lock = Lock()
         self.cf = cf
         self._useV2 = useV2

cflib/crtp/radiodriver.py

@@ -156,7 +156,7 @@ def __init__(self, devid: int):
 
         self._lock = Semaphore(1)
 
-        self.setDaemon(True)
+        self.daemon = True
 
         self.start()
 

docs/installation/install.md

@@ -7,6 +7,7 @@ page_id: install
 
 This project requires Python 3.10+.
 
+To install on Python 3.13, build tools and Python development headers are required.
 
 See below sections for more platform-specific requirements.
 ## Install from Source
@@ -78,6 +79,8 @@ With linux, the crazyradio is easily recognized, but you have to setup UDEVpermi
 
 Look at the [Zadig crazyradio instructions](https://www.bitcraze.io/documentation/repository/crazyradio-firmware/master/building/usbwindows/) to install crazyradio on Windows
 
+If you're using Python 3.13, you need to install [Visual Studio](https://visualstudio.microsoft.com/downloads/). During the installation process, you only need to select the Desktop Development with C++ workload in the Visual Studio Installer.
+
 ### macOS
 If you are using python 3.12 on mac you need to install libusb using homebrew.
 ```

pyproject.toml

@@ -0,0 +1,64 @@
+[build-system]
+requires = ["setuptools>=61.0", "wheel", "setuptools_scm"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "cflib"
+dynamic = ["version"]
+description = "Crazyflie Python driver"
+authors = [
+    { name = "Bitcraze and contributors", email = "[email protected]" },
+]
+
+readme = {file = "README.md", content-type = "text/markdown"}
+license = { text = "GPLv3" }
+keywords = ["driver", "crazyflie", "quadcopter"]
+
+classifiers = [
+    "Development Status :: 5 - Production/Stable",
+    "License :: OSI Approved :: GNU General Public License v3 (GPLv3)",
+    "Topic :: System :: Hardware :: Hardware Drivers",
+    "Topic :: Scientific/Engineering :: Robotics",
+    "Intended Audience :: Science/Research",
+    "Intended Audience :: Education",
+    "Intended Audience :: Developers",
+    "Operating System :: Linux",
+    "Operating System :: MacOS",
+    "Operating System :: Microsoft :: Windows",
+
+    # Supported Python versions
+    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
+    "Programming Language :: Python :: 3.12",
+    "Programming Language :: Python :: 3.13",
+]
+requires-python = ">= 3.10"
+
+dependencies = [
+    "pyusb~=1.2",
+    "libusb-package~=1.0",
+    "scipy~=1.14",
+    "numpy~=1.26",
+    "packaging~=24.2",
+]
+
+[project.urls]
+Homepage = "https://www.bitcraze.io"
+Documentation = "https://www.bitcraze.io/documentation/repository/crazyflie-lib-python/master/"
+Repository = "https://github.com/bitcraze/crazyflie-lib-python"
+Issues = "https://github.com/bitcraze/crazyflie-lib-python/issues"
+
+[project.optional-dependencies]
+dev = ["pre-commit"]
+
+[tool.setuptools]
+include-package-data = true
+
+[tool.setuptools.packages]
+find = { exclude = ["examples", "test"] }
+
+[tool.setuptools.package-data]
+"cflib.resources.binaries" = ["cflib/resources/binaries/*.bin"]
+
+[tool.setuptools_scm]
+version_scheme = "no-guess-dev"

tools/build/bdist

@@ -9,7 +9,7 @@ try:
     script_dir = os.path.dirname(os.path.realpath(__file__))
     root = _path.normpath(_path.join(script_dir, '../..'))
 
-    subprocess.check_call(['python3', 'setup.py', 'bdist_wheel'], cwd=root)
+    subprocess.check_call(['python3', '-m', 'build', '--wheel'], cwd=root)
 
     print('Wheel built')
 except subprocess.CalledProcessError as e: