#
# This service initiates the firmware update procedure on a remote node.
# The node that is being updated will retrieve the firmware image file 'image_file_remote_path' from the node
# 'source_node_id' using the file read service, update the firmware, and reboot.
#
# Nodes are allowed to explicitly reject this request under some circumstances (e.g. BLDC drive should reject if
# the motor is running).
#
# If the node accepts the request, initiator will get the response immediately, before the update process actually
# begins.
#

uint8 source_node_id         # If there is an invalid value (e.g. zero), the caller Node ID will be used instead
Path image_file_remote_path

---

uint8 ERROR_OK               = 0
uint8 ERROR_INVALID_MODE     = 1    # Cannot perform the update right now (e.g. the vehicle is operating)
uint8 ERROR_INVALID_FIRMWARE = 2    # Wrong firmware image, or this image cannot be loaded via UAVCAN
uint8 ERROR_FILE_READ_FAILED = 3    # Remote image file could not be read
uint8 ERROR_UNKNOWN          = 255

uint8 error
uint8[<128] optional_error_message   # Detailed error description