Publish as mavsdk-grpc, hand the mavsdk name to the native binding

.github/workflows/main.yml

@@ -1,5 +1,13 @@
 name: Check and PyPi Upload
 
+# Tagged builds publish this project under two names: "mavsdk-grpc" (the
+# going-forward name) and "mavsdk" (the legacy name, one last time, carrying a
+# rename warning). See setup.py for how the two builds differ.
+#
+# NOTE: the token in TWINE_PASSWORD must be account-scoped for the release that
+# first creates "mavsdk-grpc" on PyPI -- a project-scoped token cannot create a
+# new project. It can be swapped back to project-scoped tokens afterwards.
+
 on:
   push:
     branches:
@@ -35,9 +43,13 @@ jobs:
           python3 -m pip install -r requirements.txt -r requirements-dev.txt -r requirements-docs.txt
           python3 -m pip install "setuptools<77" auditwheel twine
 
+      # Built twice: once as "mavsdk-grpc" (the going-forward name) and once as
+      # "mavsdk" (the legacy name, carrying a rename warning). See setup.py.
       - name: Create wheel
         run: |
-          python3 setup.py bdist_wheel
+          MAVSDK_DIST_NAME=mavsdk-grpc python3 setup.py bdist_wheel
+          rm -rf build mavsdk.egg-info
+          MAVSDK_DIST_NAME=mavsdk python3 setup.py bdist_wheel
           mkdir wheelhouse
           export PATH=$PATH:$HOME/.local/bin
           auditwheel repair --plat manylinux2014_x86_64 dist/*.whl
@@ -64,7 +76,7 @@ jobs:
         if: startsWith(github.ref, 'refs/tags/')
         run: |
           export PATH=$PATH:$HOME/.local/bin
-          twine upload wheelhouse/*.whl
+          twine upload --skip-existing wheelhouse/*.whl
 
       - name: Upload docs
         env:
@@ -108,7 +120,9 @@ jobs:
       - name: Create wheel
         run: |
           export MAVSDK_SERVER_ARCH=${{ matrix.arch }}
-          python3 setup.py bdist_wheel
+          MAVSDK_DIST_NAME=mavsdk-grpc python3 setup.py bdist_wheel
+          rm -rf build mavsdk.egg-info
+          MAVSDK_DIST_NAME=mavsdk python3 setup.py bdist_wheel
           ls dist/*any.whl | sed -e 'p;s/any/${{ matrix.pypi_arch }}/' | xargs -n2 mv
 
       - name: Check the artifacts
@@ -128,7 +142,7 @@ jobs:
         if: startsWith(github.ref, 'refs/tags/')
         run: |
           export PATH=$PATH:$HOME/.local/bin
-          twine upload dist/*.whl
+          twine upload --skip-existing dist/*.whl
 
   macOS:
     name: macOS ${{ matrix.arch }}
@@ -161,7 +175,9 @@ jobs:
 
       - name: Create wheel
         run: |
-          python setup.py bdist_wheel
+          MAVSDK_DIST_NAME=mavsdk-grpc python setup.py bdist_wheel
+          rm -rf build mavsdk.egg-info
+          MAVSDK_DIST_NAME=mavsdk python setup.py bdist_wheel
           export PATH="$(python -m site --user-base)/bin:$PATH"
           delocate-wheel -w wheelhouse -v dist/*.whl
           ls wheelhouse/*any.whl | sed -e 'p;s/any/macosx_${{ matrix.wheel_arch }}/' | xargs -n2 mv
@@ -183,7 +199,7 @@ jobs:
         if: startsWith(github.ref, 'refs/tags/')
         run: |
           export PATH=$PATH:$HOME/.local/bin
-          twine upload wheelhouse/*.whl
+          twine upload --skip-existing wheelhouse/*.whl
 
   Windows:
     name: Windows (${{ matrix.arch }})
@@ -222,6 +238,10 @@ jobs:
       - name: Create wheel
         run: |
           $env:MAVSDK_SERVER_ARCH = "${{ matrix.arch }}"
+          $env:MAVSDK_DIST_NAME = "mavsdk-grpc"
+          python3 setup.py bdist_wheel
+          Remove-Item -Recurse -Force build, mavsdk.egg-info -ErrorAction SilentlyContinue
+          $env:MAVSDK_DIST_NAME = "mavsdk"
           python3 setup.py bdist_wheel
           Dir "dist/" | rename-item -NewName {$_.name -replace '-any.whl','-${{ matrix.wheel_arch }}.whl'}
 
@@ -240,4 +260,4 @@ jobs:
           TWINE_NON_INTERACTIVE: 1
         if: startsWith(github.ref, 'refs/tags/')
         run: |
-          twine upload dist/*.whl
+          twine upload --skip-existing dist/*.whl

.gitignore

@@ -12,3 +12,4 @@ build/
 .tox/
 mavsdk/bin/mavsdk_server
 mavsdk/bin/mavsdk_server.exe
+mavsdk/_dist.py

README.md

@@ -2,10 +2,26 @@
 
 [![GitHub Actions Status](https://github.com/mavlink/MAVSDK-Python/workflows/Check%20and%20PyPi%20Upload/badge.svg?branch=main)](https://github.com/mavlink/MAVSDK-Python/actions/workflows/main.yml?query=branch%3Amain)
 
-This is the Python wrapper for MAVSDK.
+This is the gRPC-based Python wrapper for MAVSDK, published on PyPI as
+[`mavsdk-grpc`](https://pypi.org/project/mavsdk-grpc/) and imported as `mavsdk_grpc`.
 
 The Python wrapper is based on a gRPC client communicating with the gRPC server written in C++. To use the Python wrapper the gRPC server called "backend" needs to be running on the same system. The wrapper is essentially auto-generated from the message definitions ([proto files](https://github.com/mavlink/MAVSDK-Proto)).
 
+> ### ⚠️ Renamed from `mavsdk` to `mavsdk-grpc`
+>
+> This wrapper used to be published as `mavsdk`. That name on PyPI now refers to
+> the native MAVSDK binding, which has a **different API** and no gRPC
+> dependency — see the [migration guide](https://mavsdk.mavlink.io/main/en/python/migration.html).
+>
+> This project carries on under the `mavsdk-grpc` name, including releases
+> tracking MAVSDK v4. If you were using `mavsdk`:
+>
+> * Install `mavsdk-grpc` and use `import mavsdk_grpc as mavsdk` — the code is
+>   identical. The separate import name is deliberate, so that the two packages
+>   can never overwrite each other's files.
+> * Or pin `mavsdk<4` to freeze on the last release under the old name, which
+>   will not receive further updates.
+
 
 ## Important Notes
 
@@ -21,20 +37,20 @@ The Python wrapper is based on a gRPC client communicating with the gRPC server
 
 **Note for Raspberry Pi 1/2 and Zero:**
 
-> MAVSDK-Python requires grpcio. However, there are no binary packets of grpcio for armv6 available via pip (also see [files on pypi.org](https://pypi.org/project/grpcio/#files)).
+> This wrapper requires grpcio. However, there are no binary packets of grpcio for armv6 available via pip (also see [files on pypi.org](https://pypi.org/project/grpcio/#files)).
 > In this case, install grpcio via the package manager, e.g. `sudo apt-get install python3-grpcio`.
 
 
-To install mavsdk-python, simply run:
+To install it, simply run:
 
 ```sh
-pip3 install mavsdk
+pip3 install mavsdk-grpc
 ```
 
 The package contains `mavsdk_server` already (previously called "backend"), which is started automatically when connecting (e.g. `await drone.connect()`). Have a look at the examples to see it used in practice. It will be something like:
 
 ```python
-from mavsdk import System
+from mavsdk_grpc import System
 
 ...
 

examples/all_params.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import asyncio
-from mavsdk import System
+from mavsdk_grpc import System
 
 
 async def run():

examples/calibration.py

@@ -2,7 +2,7 @@
 
 import asyncio
 import logging
-from mavsdk import System
+from mavsdk_grpc import System
 
 # Enable INFO level logging by default so that INFO messages are shown
 logging.basicConfig(level=logging.INFO)

examples/camera.py

@@ -3,8 +3,8 @@
 import asyncio
 import logging
 
-from mavsdk.camera import CameraError, Mode
-from mavsdk import System
+from mavsdk_grpc.camera import CameraError, Mode
+from mavsdk_grpc import System
 
 # Enable INFO level logging by default so that INFO messages are shown
 logging.basicConfig(level=logging.INFO)

examples/camera_params.py

@@ -3,8 +3,8 @@
 import asyncio
 
 from aioconsole import ainput
-from mavsdk import System
-from mavsdk.camera import CameraError, Mode, Option, Setting
+from mavsdk_grpc import System
+from mavsdk_grpc.camera import CameraError, Mode, Option, Setting
 
 
 usage_str = """

examples/do_orbit.py

@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 
 import asyncio
-from mavsdk import System
-from mavsdk.action import OrbitYawBehavior
+from mavsdk_grpc import System
+from mavsdk_grpc.action import OrbitYawBehavior
 
 
 async def run():

examples/failure_injection.py

@@ -2,8 +2,8 @@
 
 import asyncio
 
-from mavsdk import System
-from mavsdk.failure import FailureType, FailureUnit
+from mavsdk_grpc import System
+from mavsdk_grpc.failure import FailureType, FailureUnit
 
 
 async def run():

examples/firmware_version.py

@@ -2,7 +2,7 @@
 
 import asyncio
 import logging
-from mavsdk import System
+from mavsdk_grpc import System
 
 # Enable INFO level logging by default so that INFO messages are shown
 logging.basicConfig(level=logging.INFO)

examples/follow_me_example.py

@@ -3,8 +3,8 @@
 # This example shows how to use the follow me plugin
 
 import asyncio
-from mavsdk import System
-from mavsdk.follow_me import Config, TargetLocation
+from mavsdk_grpc import System
+from mavsdk_grpc.follow_me import Config, TargetLocation
 
 
 follow_height = 8.0  # in meters

examples/ftp_download_file.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import asyncio
-from mavsdk import System
+from mavsdk_grpc import System
 
 
 async def run():

examples/ftp_list_dir.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import asyncio
-from mavsdk import System
+from mavsdk_grpc import System
 
 
 async def run():

examples/geofence.py

@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 
 import asyncio
-from mavsdk import System
-from mavsdk.geofence import Point, Polygon, FenceType, GeofenceData, Circle
+from mavsdk_grpc import System
+from mavsdk_grpc.geofence import Point, Polygon, FenceType, GeofenceData, Circle
 
 """
 This example shows how to use the geofence plugin.

examples/gimbal.py

@@ -2,8 +2,8 @@
 
 import asyncio
 import logging
-from mavsdk import System
-from mavsdk.gimbal import GimbalMode, ControlMode, SendMode
+from mavsdk_grpc import System
+from mavsdk_grpc.gimbal import GimbalMode, ControlMode, SendMode
 
 # Enable INFO level logging by default so that INFO messages are shown
 logging.basicConfig(level=logging.INFO)

examples/goto.py

@@ -2,7 +2,7 @@
 
 import asyncio
 import logging
-from mavsdk import System
+from mavsdk_grpc import System
 
 # Enable INFO level logging by default so that INFO messages are shown
 logging.basicConfig(level=logging.INFO)

examples/gripper.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import asyncio
-from mavsdk import System
+from mavsdk_grpc import System
 
 
 async def run():

examples/highres_imu.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import asyncio
-from mavsdk import System
+from mavsdk_grpc import System
 
 
 async def get_imu_data():

examples/logfile_download.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import asyncio
-from mavsdk import System
+from mavsdk_grpc import System
 import sys
 
 

examples/manual_control.py

@@ -14,7 +14,7 @@
 
 import asyncio
 import random
-from mavsdk import System
+from mavsdk_grpc import System
 
 # Test set of manual inputs. Format: [roll, pitch, throttle, yaw]
 manual_inputs = [

examples/mavlink_direct_receive.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import asyncio
-from mavsdk import System
+from mavsdk_grpc import System
 import json
 
 

examples/mavlink_direct_send.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import asyncio
-from mavsdk import System, mavlink_direct
+from mavsdk_grpc import System, mavlink_direct
 import json
 import random
 

examples/mission.py

@@ -3,8 +3,8 @@
 import asyncio
 import logging
 
-from mavsdk import System
-from mavsdk.mission import MissionItem, MissionPlan
+from mavsdk_grpc import System
+from mavsdk_grpc.mission import MissionItem, MissionPlan
 
 # Enable INFO level logging by default so that INFO messages are shown
 logging.basicConfig(level=logging.INFO)

examples/mission_import.py

@@ -2,7 +2,7 @@
 
 import asyncio
 
-from mavsdk import System
+from mavsdk_grpc import System
 
 
 async def run():

examples/mission_raw.py

@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 
 import asyncio
-from mavsdk import System
-from mavsdk import mission_raw
+from mavsdk_grpc import System
+from mavsdk_grpc import mission_raw
 
 
 async def px4_connect_drone():

examples/offboard_attitude.py

@@ -7,8 +7,8 @@
 
 import asyncio
 
-from mavsdk import System
-from mavsdk.offboard import Attitude, OffboardError
+from mavsdk_grpc import System
+from mavsdk_grpc.offboard import Attitude, OffboardError
 
 
 async def run():

examples/offboard_from_csv/offboard_from_csv.py

@@ -82,10 +82,10 @@
 import csv
 import io
 import anyio
-from mavsdk import System
-from mavsdk.offboard import PositionNedYaw, VelocityNedYaw
-from mavsdk.offboard import OffboardError
-from mavsdk.telemetry import LandedState
+from mavsdk_grpc import System
+from mavsdk_grpc.offboard import PositionNedYaw, VelocityNedYaw
+from mavsdk_grpc.offboard import OffboardError
+from mavsdk_grpc.telemetry import LandedState
 
 
 # Find the current waypoint based on time