Merge pull request #9 from bitcraze/evoggy/nrf-pm-commands

Added STM32 power on/off and system off commands

Author: evoggy

cflib2/_rust.pyi

@@ -320,6 +320,37 @@ class Crazyflie:
         Returns:
             Connected Crazyflie instance
         """
+    @staticmethod
+    async def power_off_stm32_domain(
+        link_context: LinkContext, uri: builtins.str
+    ) -> None:
+        r"""
+        Power off the STM32 and deck subsystem
+
+        Cuts power to the STM32 and decks while keeping the nRF51 powered.
+        The Crazyflie can be powered on again using `power_on_stm32_domain()`.
+        This does not require a full connection.
+        """
+    @staticmethod
+    async def power_on_stm32_domain(
+        link_context: LinkContext, uri: builtins.str
+    ) -> None:
+        r"""
+        Power on the STM32 and deck subsystem
+
+        Powers the STM32 and decks back on after a `power_off_stm32_domain()`.
+        This does not require a full connection.
+        """
+    @staticmethod
+    async def power_off_all(link_context: LinkContext, uri: builtins.str) -> None:
+        r"""
+        Power off the Crazyflie completely
+
+        Powers off the nRF51, STM32, and deck subsystem. Equivalent to
+        pressing the power button. The Crazyflie cannot be woken up via
+        radio after this.
+        This does not require a full connection.
+        """
     async def disconnect(self) -> None:
         r"""
         Disconnect from the Crazyflie

rust/Cargo.lock

@@ -14,7 +14,7 @@ extension-module = ["pyo3/extension-module"]
 [dependencies]
 pyo3 = { version = "0.26" }
 pyo3-async-runtimes = { version = "0.26", features = ["tokio-runtime"] }
-crazyflie-lib = "0.6.0"
+crazyflie-lib = "0.7.1"
 crazyflie-link = "0.4.2"
 tokio = { version = "1.48", features = ["full"] }
 futures = "0.3.31"

rust/Cargo.toml

@@ -124,6 +124,51 @@ impl Crazyflie {
         })
     }
 
+    /// Power off the STM32 and deck subsystem
+    ///
+    /// Cuts power to the STM32 and decks while keeping the nRF51 powered.
+    /// The Crazyflie can be powered on again using `power_on_stm32_domain()`.
+    /// This does not require a full connection.
+    #[staticmethod]
+    #[gen_stub(override_return_type(type_repr = "collections.abc.Coroutine[typing.Any, typing.Any, None]"))]
+    fn power_off_stm32_domain<'py>(py: Python<'py>, link_context: &LinkContext, uri: String) -> PyResult<Bound<'py, PyAny>> {
+        let inner = link_context.inner.clone();
+        pyo3_async_runtimes::tokio::future_into_py(py, async move {
+            crazyflie_lib::Crazyflie::power_off_stm32_domain(&inner, &uri).await.map_err(to_pyerr)?;
+            Ok(())
+        })
+    }
+
+    /// Power on the STM32 and deck subsystem
+    ///
+    /// Powers the STM32 and decks back on after a `power_off_stm32_domain()`.
+    /// This does not require a full connection.
+    #[staticmethod]
+    #[gen_stub(override_return_type(type_repr = "collections.abc.Coroutine[typing.Any, typing.Any, None]"))]
+    fn power_on_stm32_domain<'py>(py: Python<'py>, link_context: &LinkContext, uri: String) -> PyResult<Bound<'py, PyAny>> {
+        let inner = link_context.inner.clone();
+        pyo3_async_runtimes::tokio::future_into_py(py, async move {
+            crazyflie_lib::Crazyflie::power_on_stm32_domain(&inner, &uri).await.map_err(to_pyerr)?;
+            Ok(())
+        })
+    }
+
+    /// Power off the Crazyflie completely
+    ///
+    /// Powers off the nRF51, STM32, and deck subsystem. Equivalent to
+    /// pressing the power button. The Crazyflie cannot be woken up via
+    /// radio after this.
+    /// This does not require a full connection.
+    #[staticmethod]
+    #[gen_stub(override_return_type(type_repr = "collections.abc.Coroutine[typing.Any, typing.Any, None]"))]
+    fn power_off_all<'py>(py: Python<'py>, link_context: &LinkContext, uri: String) -> PyResult<Bound<'py, PyAny>> {
+        let inner = link_context.inner.clone();
+        pyo3_async_runtimes::tokio::future_into_py(py, async move {
+            crazyflie_lib::Crazyflie::power_off_all(&inner, &uri).await.map_err(to_pyerr)?;
+            Ok(())
+        })
+    }
+
     /// Disconnect from the Crazyflie
     #[gen_stub(override_return_type(type_repr = "collections.abc.Coroutine[typing.Any, typing.Any, None]"))]
     fn disconnect<'py>(&self, py: Python<'py>) -> PyResult<Bound<'py, PyAny>> {