Add swarm bootload info and flash (unicast)

README.md

@@ -241,7 +241,8 @@ prompt) a few flags make the output predictable:
   `param list`/`get`, `log list`/`print`, `mem list`, `deck list`,
   `platform info`, `swarm config list`/`show`, `swarm scan`,
   `swarm platform info`, `swarm param get`, `swarm log print`,
-  `swarm deck list`, `swarm debug assert`). Other commands ignore the flag.
+  `swarm deck list`, `swarm debug assert`, `swarm bootload info`). Other
+  commands ignore the flag.
 
 Exit codes:
 

docs/bootload.md

@@ -22,6 +22,9 @@ This command shows you the bootloader version and other related information of t
 cfcli bootload info
 ```
 
+To flash, or show the bootloaders of, every Crazyflie of a swarm, see
+[Swarms](swarm.md#flashing).
+
 ## List available releases
 
 This command will list the available releases from the [Crazyflie release repository](https://github.com/bitcraze/crazyflie-release).

docs/swarm.md

@@ -201,6 +201,7 @@ These commands work like the normal ones, on every Crazyflie in the swarm:
 | `cfcli swarm log print` | Log variables from each Crazyflie |
 | `cfcli swarm deck list` | The decks on each Crazyflie |
 | `cfcli swarm debug assert` | The assert info of each Crazyflie |
+| `cfcli swarm bootload info \| flash` | Bootloaders and firmware, see [Flashing](#flashing) |
 
 `--cf` and `--exclude` (comma-separated names) pick some of the Crazyflies,
 and `--swarm <id>` runs on another swarm than the selected one:
@@ -296,6 +297,57 @@ TOC that isn't in the cache yet is downloaded from one Crazyflie only; the
 others wait and then use the cache. Run with `-n` (no TOC cache) and every
 Crazyflie downloads its own.
 
+### Flashing
+
+`swarm bootload flash` flashes every Crazyflie, one after another, the same
+way `cfcli bootload flash` flashes one. It takes the same `--release`,
+`--zip`, `--bin` and `--targets`:
+
+```bash
+cfcli swarm bootload flash --release 2026.08
+cfcli swarm bootload flash --bin stm32-fw=cf21bl.bin --cf CF-01,CF-02
+```
+
+The release, the files and the targets are checked before any Crazyflie is
+touched, and the firmware for every platform in the swarm is prepared before
+anything is flashed: a `--zip` built for another platform stops the command
+instead of failing halfway. A Crazyflie that fails while flashing doesn't
+stop the others, and a summary at the end shows how each one went. A unicast
+flash keeps the radio busy, so flashing several Crazyflies at once wouldn't
+be faster; plan for about 20 seconds per Crazyflie for the STM32 and nRF51
+firmware, more with decks.
+
+#### Swarms with several platforms
+
+A release has the files for every platform, so `--release` flashes each
+Crazyflie with the files of its own platform. STM32 and nRF51 images given
+with `--bin` are built for one platform, so they are only flashed when all the
+Crazyflies to flash have the same platform; otherwise the command stops
+before flashing anything. Deck firmware works whatever the Crazyflie.
+
+`--platform` flashes only the Crazyflies of one platform (`cf21`, `cf21bl`,
+`bolt11`, `flapper` or `tag`), the others are skipped:
+
+```bash
+cfcli swarm bootload flash --platform cf21bl --bin stm32-fw=cf21bl.bin
+cfcli swarm bootload flash --platform cf21 --bin stm32-fw=cf21.bin
+```
+
+`swarm bootload info` shows the bootloader versions of each Crazyflie. It
+restarts each one into its bootloader to read them and back into its
+firmware afterwards:
+
+```text
+$ cfcli swarm bootload info
+CF    | nRF51 bootloader | STM32 bootloader | Broadcast
+------+------------------+------------------+-----------
+CF-01 | 0x11             | 0x11             | yes
+CF-02 | 0x10             | 0x10             | no
+```
+
+`Broadcast` tells whether both bootloaders are new enough to receive one
+image for many Crazyflies at the same time (protocol 0x11).
+
 ## Spreading a swarm over channels
 
 Crazyflies on the same channel always share a Crazyradio (see

src/cli.rs

@@ -513,6 +513,14 @@ enum SwarmCommands {
         #[clap(subcommand)]
         command: SwarmLogCommands,
     },
+    /// Bootload the Crazyflies in the swarm
+    Bootload {
+        #[clap(flatten)]
+        target: SwarmTargetArgs,
+
+        #[clap(subcommand)]
+        command: SwarmBootloadCommands,
+    },
     /// Debugging utilities for the Crazyflies in the swarm
     Debug {
         #[clap(flatten)]
@@ -581,6 +589,28 @@ enum SwarmLogCommands {
     Print(VariablesAndPeriod),
 }
 
+#[derive(Debug, Subcommand)]
+enum SwarmBootloadCommands {
+    /// Show the bootloader versions of each Crazyflie (restarts each one into
+    /// its bootloader and back)
+    Info,
+    /// Flash firmware to each Crazyflie, one after another
+    Flash(SwarmFlashParameters),
+}
+
+#[derive(Debug, Args)]
+struct SwarmFlashParameters {
+    #[clap(flatten)]
+    source: FirmwareSourceArgs,
+    /// Only flash the Crazyflies of this platform. STM32 and nRF51 images
+    /// given with --bin are built for one platform, so a swarm with several
+    /// platforms is flashed one platform at a time.
+    ///
+    /// Valid values: cf21, cf21bl, bolt11, flapper, tag
+    #[clap(long, verbatim_doc_comment)]
+    platform: Option<String>,
+}
+
 #[derive(Debug, Subcommand)]
 enum SwarmDeckCommands {
     /// List the decks attached to each Crazyflie
@@ -961,22 +991,15 @@ struct InfoParameters {
   cold: bool,
 }
 
+/// The firmware to flash, shared by `bootload flash` and `swarm bootload flash`.
 #[derive(Debug, Args)]
-#[command(
-  // group(
-  //   ArgGroup::new("source_type")
-  //     .args(&["release", "zip"])
-  //     .required(false)
-  //     .multiple(false)
-  // ),
-  group(
+#[command(group(
     ArgGroup::new("firmware_source")
       .args(&["release", "zip", "bin"])
       .required(true)
       .multiple(true)
-  )
-)]
-struct FlashParameters {
+))]
+struct FirmwareSourceArgs {
   /// Release name, interactive selection if left blank (cannot be combined with zip)
   #[clap(long)]
   release: Option<Option<String>>,
@@ -1000,6 +1023,12 @@ struct FlashParameters {
   /// Example: stm32-fw,nrf51-fw
   #[clap(long, verbatim_doc_comment)]
   targets: Option<Option<String>>,
+}
+
+#[derive(Debug, Args)]
+struct FlashParameters {
+  #[clap(flatten)]
+  source: FirmwareSourceArgs,
   /// Use coldboot (i.e rescue mode) to flash the device
   #[clap(long, default_value_t = false)]
   cold: bool,