Sure, but we don’t need to restart the whole backend . We just need to instantiate a new pyuavcan.Node and destroy the old one. We may even keep the interfaces running, but I am not sure (I’m yet to get to that part).
We need the file server for firmware updates:
# Begin the software update process using uavcan.file.Read. This command makes use of the "parameter" field below.
# The parameter contains the path to the new software image file to be downloaded by the server from the client
# using the standard service uavcan.file.Read. Observe that this operation swaps the roles of the client and
# the server.
#
# Upon reception of this command, the server (updatee) will evaluate whether it is possible to begin the
# software update process. If that is deemed impossible, the command will be rejected with one of the
# error codes defined in the response section of this definition (e.g., BAD_STATE if the node is currently
# on-duty and a sudden interruption of its activities is considered unsafe, and so on).
# If an update process is already underway, the updatee should abort the process and restart with the new file,
# unless the updatee can determine that the specified file is the same file that is already being downloaded,
# in which case it is allowed to respond SUCCESS and continue the old update process.
# If there are no other conditions precluding the requested update, the updatee will return a SUCCESS and
# initiate the file transfer process by invoking the standard service uavcan.file.Read repeatedly until the file
# is transferred fully (please refer to the documentation for that data type for more information about its usage).
#
# While the software is being updated, the updatee should set its mode (the field "mode" in uavcan.node.Heartbeat)
# to MODE_SOFTWARE_UPDATE. Please refer to the documentation for uavcan.node.Heartbeat for more information.
#
# It is recognized that most systems will have to interrupt their normal services to perform the software update
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Which reminds me that if the server is running on a different machine, the user should be able to somehow upload the file to the server via the GUI.
The file server may be useful by itself irrespective of the firmware update feature.
Side note:
We don’t say “dynamic allocation” anymore . We say “plug-and-play” instead, because it reflects the semantics better.
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