YAFU (#1057)

Co-authored-by: Ugo Pattacini <ugo.pattacini@iit.it>

Author: sksubiit

src/tools/CMakeLists.txt

@@ -15,6 +15,7 @@ add_subdirectory(fakeRawDataPublisherTester)
 add_subdirectory(canLoader)
 add_subdirectory(ethLoader)
 add_subdirectory(strainCalib)
+add_subdirectory(yafu)
 
 # Tools available both for Qt5
 if(ICUB_USE_Qt5)

src/tools/yafu/CMakeLists.txt

@@ -0,0 +1,53 @@
+# Copyright: (C) 2025 iCub Facility - Istituto Italiano di Tecnologia
+# Authors: SATHISH KUMAR S
+# CopyPolicy: Released under the terms of the GNU GPL v2.0.
+# yafu - Yet_Another_Firmware_Updater
+# version: 1.0 - 2025/11/17
+
+project(yafu)
+
+# make install locations available
+include(GNUInstallDirs)
+
+# Only build on Linux
+if (CMAKE_SYSTEM_NAME STREQUAL "Linux")
+  message(STATUS "Building YAFU on Linux")
+else()
+  message(STATUS "YAFU disabled on non-Linux platform (${CMAKE_SYSTEM_NAME}); skipping build and install.")
+  return()
+endif()
+
+# require icub-firmware-shared
+if(NOT ICUB_USE_icub_firmware_shared)
+  message(STATUS "icub-firmware-shared not selected, disabling yafu")
+  return()
+endif()
+
+# sources
+set(SRCS
+    src/yafu.cpp
+    src/yafu.h
+)
+
+# target
+add_executable(${PROJECT_NAME} ${SRCS})
+
+# include & link firmware-shared and other deps
+target_link_libraries(${PROJECT_NAME} PRIVATE
+    icub_firmware_shared::embobj
+)
+
+target_include_directories(${PROJECT_NAME} PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>"
+)
+
+# Install binary and helper scripts
+install(TARGETS ${PROJECT_NAME}
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+
+install(PROGRAMS
+        yafu_discover.sh
+        yafu_parallel.sh
+        yafu_program.sh
+        yafu_restart.sh
+        DESTINATION ${CMAKE_INSTALL_BINDIR})

src/tools/yafu/README.md

@@ -0,0 +1,6 @@
+YAFU
+====
+
+Lightweight firmware updater for iCub Ethernet boards — parallel, failure‑isolated updates that query boards, update only when needed, and restore default mode.
+
+Runbook for more details: https://icub-tech-iit.github.io/documentation/icub_firmware/yafu_runbook/yafu_runbook/