mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-24 15:27:41 +08:00
chore(uavcan): remove FW flashing database (#27930)
* feat(uavcan): remove FW.db generation * docs(dronecan): remove FW.db section, update remote update workflow
This commit is contained in:
Alexander Lerach
@@ -328,31 +328,12 @@ On boot, PX4 scans both locations, reads the board ID from the _APDescriptor_ of
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The source file is then deleted.
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Any connected node whose running version does not match is then flashed over the CAN bus.
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### Firmware Database
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A flat-file database at `/fs/microsd/ufw/FW.db` maps each board ID to the original firmware filename that was installed.
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This may be queried by external tools to determine current firmware versions.
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Example entry:
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```txt
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122.bin=122-1.17.63eeff1a.uavcan.bin
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```
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Entries are removed on boot if their corresponding firmware is not present.
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### Remote Update
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Remote updates can be made by uploading the corresponding bin files to `/fs/microsd/ufw_staging/`.
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PX4 will then update firmware on next boot.
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This approach enables efficient mass-update of binaries from archives (`.zip` or `.tar` that contains `.bin` files for the target CAN nodes).
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Tools can:
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1. Read the PX4 firmware database to determine what firmware is present
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2. Extract the more-recent versions of matching firmware to the staging directory
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PX4 does not provide such tools.
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::: info
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Auterion uses a form of this workflow to update CAN firmware to SkyNode based devices.
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@@ -366,7 +347,7 @@ The `upload_skynode.sh` script with multiple `--ext-fw` flags is used to bundle
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--ext-fw=build/auterion_canio_default/some_other_default.uavcan.bin
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```
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Another tool then checks the firmware database and extracts just the relevant files to the PX4 firmware staging area.
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Another tool then checks which files were already uploaded using a local database and extracts just the relevant files to the PX4 firmware staging area.
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:::
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## Troubleshooting
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@@ -56,9 +56,6 @@
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#include <uavcan_posix/dynamic_node_id_server/file_storage_backend.hpp>
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#include <uavcan_posix/firmware_version_checker.hpp>
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static constexpr size_t FW_DB_LINE_SIZE = 256; // key(~15) + '=' + filename(NAME_MAX) + '\n'
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static const char FW_DB_PATH[] = UAVCAN_FIRMWARE_PATH "/FW.db";
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static const char FW_DB_TMP_PATH[] = UAVCAN_FIRMWARE_PATH "/FW.db.tmp";
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static uint8_t _buffer[512]
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px4_cache_aligned_data() = {};
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@@ -142,9 +139,6 @@ int UavcanServers::init()
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return ret;
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}
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/* Check if all entries in the firmware database are still valid */
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validateFwDatabase();
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/*
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Check for firmware in the root directory, move it to appropriate location on
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the SD card, as defined by the APDesc.
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@@ -236,7 +230,6 @@ void UavcanServers::migrateFWFromRoot(const char *sd_path, const char *sd_root_p
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snprintf(dstpath, sizeof(dstpath), "%s/%d.bin", sd_path, descriptor.board_id);
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if (copyFw(dstpath, srcpath) >= 0) {
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updateFwDatabase(dstpath, bin_names[i]);
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unlink(srcpath);
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}
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}
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@@ -296,112 +289,3 @@ int UavcanServers::copyFw(const char *dst, const char *src)
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return rv;
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}
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void UavcanServers::updateFwDatabase(const char *fw_path, const char *original_filename)
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{
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// DB key is the filename portion of fw_path, e.g. "12345.bin"
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const char *last_slash = strrchr(fw_path, '/');
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const char *new_filename = last_slash ? (last_slash + 1) : fw_path;
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// The new/updated DB entry, e.g. "122.bin=122-1.17.63eeff1a.uavcan-dev.bin\n"
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char new_entry[FW_DB_LINE_SIZE];
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snprintf(new_entry, sizeof(new_entry), "%s=%s\n", new_filename, original_filename);
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// Open the existing DB for reading (may not exist yet) and a temp file for writing.
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FILE *db_in = fopen(FW_DB_PATH, "r");
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FILE *db_out = fopen(FW_DB_TMP_PATH, "w");
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if (!db_out) {
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if (db_in) { fclose(db_in); }
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PX4_WARN("updateFwDatabase: couldn't open tmp file");
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return;
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}
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// Copy all existing entries to the temp file, replacing the matching key in-place.
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bool line_updated = false;
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char line[FW_DB_LINE_SIZE];
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if (db_in) {
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while (fgets(line, sizeof(line), db_in)) {
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if (strncmp(line, new_filename, strlen(new_filename)) == 0 && line[strlen(new_filename)] == '=') {
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fputs(new_entry, db_out);
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line_updated = true;
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} else {
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fputs(line, db_out);
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}
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}
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fclose(db_in);
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}
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// Key was not present in the existing DB — append it as a new entry.
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if (!line_updated) {
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fputs(new_entry, db_out);
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}
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fflush(db_out);
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fsync(fileno(db_out));
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fclose(db_out);
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// Atomically replace the old DB with the updated version.
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rename(FW_DB_TMP_PATH, FW_DB_PATH);
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}
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void UavcanServers::validateFwDatabase()
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{
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FILE *db_in = fopen(FW_DB_PATH, "r");
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if (!db_in) {
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return; // no DB yet, nothing to validate
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}
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FILE *db_out = fopen(FW_DB_TMP_PATH, "w");
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if (!db_out) {
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fclose(db_in);
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PX4_WARN("validateFwDatabase: couldn't open tmp file");
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return;
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}
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bool changed = false;
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char line[FW_DB_LINE_SIZE];
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while (fgets(line, sizeof(line), db_in)) {
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// Each valid line is "key=original_filename\n", e.g. "122.bin=122-1.17.abc.bin"
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const char *eq = strchr(line, '=');
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if (eq == nullptr) {
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changed = true; // malformed line — drop it
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continue;
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}
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// Build the full path to the firmware file to check if it still exists.
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char full_path[UAVCAN_MAX_PATH_LENGTH + 1];
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snprintf(full_path, sizeof(full_path), "%s/%.*s", UAVCAN_FIRMWARE_PATH,
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(int)(eq - line), line);
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struct stat sb;
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if (stat(full_path, &sb) == 0 && S_ISREG(sb.st_mode)) {
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fputs(line, db_out);
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} else {
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PX4_INFO("validateFwDatabase: removing stale entry for '%.*s'", (int)(eq - line), line);
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changed = true;
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}
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}
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fclose(db_in);
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fflush(db_out);
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fsync(fileno(db_out));
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fclose(db_out);
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if (changed) {
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rename(FW_DB_TMP_PATH, FW_DB_PATH);
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} else {
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unlink(FW_DB_TMP_PATH);
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}
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}
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@@ -75,8 +75,6 @@ private:
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void unpackFwFromROMFS(const char *sd_path, const char *romfs_path);
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void migrateFWFromRoot(const char *sd_path, const char *sd_root_path);
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int copyFw(const char *dst, const char *src);
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void updateFwDatabase(const char *fw_path, const char *original_filename);
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void validateFwDatabase();
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uavcan_posix::dynamic_node_id_server::FileEventTracer _tracer;
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uavcan_posix::dynamic_node_id_server::FileStorageBackend _storage_backend;
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