Define MotionType and module level

Author: michaelosthege

cri_lib/__init__.py

@@ -2,7 +2,7 @@
 .. include:: ../README.md
 """
 
-from .cri_controller import CRIController
+from .cri_controller import CRIController, MotionType
 from .cri_errors import CRICommandTimeOutError, CRIConnectionError, CRIError
 from .cri_protocol_parser import CRIProtocolParser
 from .robot_state import (

cri_lib/cri_controller.py

@@ -15,6 +15,15 @@
 logger = logging.getLogger(__name__)
 
 
+class MotionType(Enum):
+    """Robot Motion Type for Jogging"""
+
+    Joint = "Joint"
+    CartBase = "CartBase"
+    CartTool = "CartTool"
+    Platform = "Platform"
+
+
 class CRIController:
     """
     Class implementing the CRI network protocol for igus Robot Control.
@@ -25,14 +34,6 @@ class CRIController:
     RECEIVE_TIMEOUT_SEC = 5
     DEFAULT_ANSWER_TIMEOUT = 10.0
 
-    class MotionType(Enum):
-        """Robot Motion Type for Jogging"""
-
-        Joint = "Joint"
-        CartBase = "CartBase"
-        CartTool = "CartTool"
-        Platform = "Platform"
-
     def __init__(self) -> None:
         self.robot_state: RobotState = RobotState()
         self.robot_state_lock = threading.Lock()
@@ -1512,3 +1513,7 @@ def get_motor_temperatures(
                 return True
         else:
             return False
+
+
+# Monkey patch to maintain backward compatibility
+CRIController.MotionType = MotionType  # type: ignore