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feat: force and upgrade by url or version
Three new arguments are added to the `upgrade` command: `--force`, `--url` and `--version`. The `--url` and `--version` arguments provide two different sources for the upgrade, as opposed to just upgrading to the latest version. With `--url`, a custom binary can be provided, which will be used for the backwards compatibility test. The `--version` flag enables upgrading to a specific version rather than the latest. Both of these can be used with the `--force` flag to downgrade to an arbitrary version or to accept an upgrade from a binary with the same version, the latter of which will again be used in the backwards compatibility test. Integration tests provide coverage of these new features. Each of the tests really needs to run on its own machine, otherwise they interfere with each other, and tests can't make assumptions about how many services there are. So we add twelve additional jobs to the merge workflow here, which is for four tests on three operating systems. However, these tests should run pretty quickly. The `stop` command was modified such that it will no longer return an error if the service is in the `ADDED` state, i.e., it has not been started before. This enables us to test the upgrade process without initially starting the service, which could introduce complications. The `get_safenode_port` function was also changed to return an `Option` rather than a `Result` for the same reason.
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