Implement file server & software updater

[pavel-kirienko]

Install this branch for testing:

pip install git+https://github.com/UAVCAN/yakut@bootloader

How to use it:

• https://github.com/UAVCAN/yakut/blob/bootloader/README.md#updating-node-software
• yakut file-server --help

It is better to run it with --verbose to see how decisions are made under the hood.

Fixes #4

[davidbitton]

Can I use this to add an addt'l step to the Ardupilot build process script(s)? Currently, waf has the --upload option, but that's only for USB connected devices. Thanks.

[pavel-kirienko]

Sure. You will need to alter the build system to make it generate binary files following the naming convention expected by this tool (a compatible naming convention is also used by the PX4 bootloader). After the output is generated, you launch the tool and make it distribute the new binary to the node(s).

You could also keep the tool running in the background continuously (launched like yakut file-server --plug-and-play=allocation.db --update-software /path/to/build/outputs) but in this case you will need to manually power cycle your nodes to trigger the check.

[davidbitton]

@pavel-kirienko i wasn't aware that a node checks for new firmware on startup. Is that in AP_Periph or is that in the Zubax hardware?

[pavel-kirienko]

The check is done by this tool, not the node.