Swarm flash utility (#456)

* add flash as executable
* manage flashing with simple zipfile
* flash both zip as bins
* works with absolute path
* add flash to cfmultitool
* flash target based only on file name
* add missing variable

Author: knmcguire

crazyflie/CMakeLists.txt

@@ -111,6 +111,7 @@ install(PROGRAMS
   scripts/simple_mapper_multiranger.py
   scripts/aideck_streamer.py
   scripts/gui.py
+  scripts/flash.py
   DESTINATION lib/${PROJECT_NAME}
 )
 

crazyflie/scripts/cfmult.py

@@ -25,7 +25,8 @@
    "version",
    "listLogVariables",
    "listParams", 
-   "listMemories"
+   "listMemories",
+   "flash",
 }
 
 
@@ -46,6 +47,9 @@ def main():
     yaml_parser.add_argument("-C", "--configpath",
 		default=Path(__file__).parent.parent.resolve() / "config",
 		help="Path to the configuration *.yaml files")
+    
+    parser.add_argument("--file_name", help="File name for flashing the crazyflie",
+            type=str, default="")
 
     args = parser.parse_args()
 
@@ -63,13 +67,25 @@ def main():
 
     # Run for all URI's determined.
     for uri in uris:
-        cmd = [
+        if args.subcommand[0] == "flash":
+            SUBPROC_TIMEOUT = 20
+            cmd = [
             "ros2", 
             "run", 
             "crazyflie", 
-            *args.subcommand, 
+            "flash.py", 
             f"--uri={uri}",
+            f"--file_name={args.file_name}"
         ]
+        else:
+            SUBPROC_TIMEOUT = 1
+            cmd = [
+                "ros2", 
+                "run", 
+                "crazyflie", 
+                *args.subcommand, 
+                f"--uri={uri}",
+            ]
         print(f"{' '.join(cmd)}")
         subprocess.run(cmd, timeout=SUBPROC_TIMEOUT)
 

crazyflie/scripts/flash.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+
+"""
+A flash utility script to flash crazyflies with the latest or custom firmware
+
+    2024 - K. N. McGuire (Bitcraze AB)
+"""
+
+import rclpy
+from rclpy.node import Node
+import cflib.crtp  # noqa
+from cflib.bootloader import Bootloader, Target
+from cflib.bootloader.boottypes import BootVersion
+import argparse
+import os
+
+class Flash(Node):
+    def __init__(self, uri, file_name):
+        super().__init__('flash')
+    
+        self.get_logger().info(f"Flashing {uri} with {file_name}")
+
+        base_file_name = os.path.basename(file_name)
+
+        if base_file_name.endswith("zip") and base_file_name.startswith("firmware-cf2"):
+            targets = []
+        elif base_file_name.endswith("bin") and base_file_name.startswith("cf2"):
+            targets = [Target("cf2", 'stm32', 'fw', [], [])]
+        else:
+            self.get_logger().error(f"Unsupported file type or name. Only cf2*.bin or firmware-cf2*.zip supported")
+            return
+
+        bl = Bootloader(uri)
+        try:
+            bl.flash_full(None, file_name, True, targets)
+        except Exception as e:
+            self.get_logger().error(f"Failed to flash, Error {str(e)}")
+        finally:
+            if bl:
+                bl.close()
+
+        return
+
+def main(args=None):
+    cflib.crtp.init_drivers()
+    rclpy.init(args=args)
+    parser = argparse.ArgumentParser(description="This is a sample script")
+    parser.add_argument('--uri', type=str, default="radio://0/80/2M/E7E7E7E7E7", help='unique resource identifier')
+    parser.add_argument('--file_name', type=str, default="cf2.bin", help='')
+
+    # Parse the arguments
+    args = parser.parse_args()
+
+    print("URI: ", args.uri)
+    flash_node = Flash(args.uri, args.file_name)
+
+    flash_node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()