主机屋 大网站,wordpress菜单扩展,网站首页的名字通常是,优购物app最新版下载MAVSDK 是 PX4 开源团队贡献的基于 MavLink 通信协议的用于无人机应用开发的 SDK#xff0c;支持多种语言如 C/C、python、Java 等。通常用于无人机间、地面站与通信设备的消息传输。
MAVLink 是一种非常轻量级的消息传递协议#xff0c;用于与无人机#xff08;以及机载无…MAVSDK 是 PX4 开源团队贡献的基于 MavLink 通信协议的用于无人机应用开发的 SDK支持多种语言如 C/C、python、Java 等。通常用于无人机间、地面站与通信设备的消息传输。
MAVLink 是一种非常轻量级的消息传递协议用于与无人机以及机载无人机组件之间进行通信。MAVLink 遵循现代混合发布-订阅和点对点设计模式数据流作为主题发送/发布而任务协议或参数协议等配置子协议是点对点的重传。其中 MAVLink 1 每个数据包只有 8 个字节的开销包括开始标志和数据包丢弃检测。MAVLink 2 只有 14 字节的开销。由于 MAVLink 不需要任何额外的成帧因此非常适合通信带宽非常有限的应用程序。
当我们想要在 OpenHarmony 上做无人机相关工作时在通信方面需要面临 MAVLink 的移植适配工作。因此接下来我们将分享如何将 MAVSDK 移植至 OpenHarmony 系统当中。 MAVSDK Github 开源地址GitHub - mavlink/MAVSDK: API and library for MAVLink compatible systems written in C17
接下来讲解如何把 MAVSDK 开源库添加至 OpenHarmony 工程中进行编译。此方法与其他开源库移植方法基本一致
本次移植通过新建子系统 mavsdk在子系统下添加名为 mavsdk 的组件并在该组件下添加名为 MAVSDK 的模块OpenHarmony 系统层级顺序如下子系统- 组件- 模块下文中将都以此为顺序进行叙述。
表 1添加到工程后的目录结构
路径描述ohos/build/subsystem_config.json子系统配置ohos/productdefine/common/products/ohos-arm64.json板级相关ohos/third_party/MAVSDK/bundle.json在子系统中添加组件配置ohos/third_party/MAVSDK/BUILD.gn三方库模块化将其加入组件中的 gn 文件
subsystem_config.json
首先在 ohos/build/subsystem 中添加 subsystem 节点。
mavsdk: { path: third_party/MAVSDK, name: mavsdk}
ohos-arm64.json 文件
在 ohos/productdefine/common/products/ohos-arm64.json 文件中添加板级相关的信息。
mavsdk:MAVSDK:{}
如下图所示 Bundle.json 文件
在 ohos/third 目录下添加 bundle.json 文件以便系统可以添加名为 MAVSDK 的组件。
对于此文件要点如注释所见编译时去除注释以保证配置文件整洁性
{name: ohos/MAVSDK,description: ,version: ,license: ,publishAs: ,segment: {destPath: third_party/MAVSDK},dirs: {},scripts: {},readmePath: {},component: {name: MAVSDK,subsystem: mavsdk,syscap: [],features: [],adapted_system_type: [],rom: ,ram: ,deps: {components: [ jsoncpp,zlib//此处添加了要用的三方库后续的build.gn中还会有所体现。],third_party: [jsoncpp,zlib]},build: {sub_component: [ //third_party/mavsdk:MAVSDK,//third_party/mavsdk:mavsdk_test],//此处添加了接下来要编译的组件一个是代码主仓组件一个是代码的测试文件组件inner_kits: [],test: [//third_party/mavsdk:mavsdk_test]}}}
BUILD.gn 文件
在完成上述步骤后下面需要在 ohos/third 目录添加 BUILD.gn根据不同的系统生成静态或者动态库注意点如下
文件作用build.make生成目标的源文件depend.make需要依赖的其他 C 源文件flags.makecflags 相关的一些标志link.txt链接库相关信息
① 注意移植时的 cflags、cflags 应从原始的编译文件例如 cmake 过程中 build 的生成文件在 cmake 生成 makefile 的过程中分析 build.make、depend.make、flags.make、link.txt 等得出三方库对应的依赖关系中获取相关的标志位
② 注意移植的源文件及头文件地址可以使用当前 build.gn 所在路径下相对位置例如/src 与 build.gn 在同一路径下则路径可以直接应用 src/....
③ 注意 deps 若引用的是组件内的其他模块例如其他 build.gn 文件中的组件或当前 build.gn 中位于此 deps 前的其他组件可以使用 ”:module 进行模块依赖若是引用组件外的其他组件则需要使用 ”bundle
import(//build/ohos.gni)
import(//build/test.gni)config(mavsdk_cflag_config) {#编译时的标志位cflags [ -fexceptions,-Wextra,-Wshadow,-Wno-strict-aliasing,-Wformat2,-Wextra,-Wno-unused-lambda-capture,-Wno-pragmas,-Wno-unknown-warning-option,-Wduplicated-cond,-Wnull-dereference,-Wduplicated-branches,-Wlogical-op, -Wno-old-style-cast,-pthread,]cflags_cc [ -frtti ] #fix:[OHOS ERROR] ../../prebuilts/clang/ohos/linux-x86_64/llvm/bin/../include/libcxx-ohos/include/c/v1/memory:3566:16: error: use of dynamic_cast requires -frttildflags [ -fPIC,-g,-shared,-Wl,-soname ]
}ohos_source_set(libmavsdk_source) {configs [:mavsdk_cflag_config]deps [ //third_party/curl:curl ] #需要包含的源文件sources [src/mavsdk/core/call_every_handler.cpp ,src/mavsdk/core/connection.cpp ,src/mavsdk/core/connection_result.cpp ,src/mavsdk/core/curl_wrapper.cpp ,src/mavsdk/core/crc32.cpp ,src/mavsdk/core/system.cpp ,src/mavsdk/core/system_impl.cpp ,src/mavsdk/core/fs.cpp ,src/mavsdk/core/mavsdk.cpp ,src/mavsdk/core/mavsdk_impl.cpp ,src/mavsdk/core/http_loader.cpp ,src/mavsdk/core/mavlink_channels.cpp ,src/mavsdk/core/mavlink_command_receiver.cpp ,src/mavsdk/core/mavlink_command_sender.cpp ,src/mavsdk/core/mavlink_ftp.cpp ,src/mavsdk/core/mavlink_mission_transfer.cpp ,src/mavsdk/core/mavlink_parameters.cpp ,src/mavsdk/core/mavlink_receiver.cpp ,src/mavsdk/core/mavlink_request_message_handler.cpp ,src/mavsdk/core/mavlink_statustext_handler.cpp ,src/mavsdk/core/mavlink_message_handler.cpp ,src/mavsdk/core/ping.cpp ,src/mavsdk/core/plugin_impl_base.cpp ,src/mavsdk/core/serial_connection.cpp ,src/mavsdk/core/tcp_connection.cpp ,src/mavsdk/core/timeout_handler.cpp ,src/mavsdk/core/udp_connection.cpp ,src/mavsdk/core/log.cpp ,src/mavsdk/core/cli_arg.cpp ,src/mavsdk/core/geometry.cpp ,src/mavsdk/core/request_message.cpp ,src/mavsdk/core/mavsdk_time.cpp ,src/mavsdk/core/timesync.cpp ,src/mavsdk/plugins/action/action.cpp ,src/mavsdk/plugins/action/action_impl.cpp ,src/mavsdk/plugins/action_server/action_server.cpp ,src/mavsdk/plugins/action_server/action_server_impl.cpp ,src/mavsdk/plugins/calibration/calibration.cpp ,src/mavsdk/plugins/calibration/calibration_impl.cpp ,src/mavsdk/plugins/calibration/calibration_statustext_parser.cpp ,src/mavsdk/plugins/camera/camera.cpp ,src/mavsdk/plugins/camera/camera_impl.cpp ,src/mavsdk/plugins/camera/camera_definition.cpp ,src/mavsdk/plugins/camera/camera_definition_files/generated/camera_definition_files.cpp ,src/mavsdk/plugins/component_information/component_information.cpp ,src/mavsdk/plugins/component_information/component_information_impl.cpp ,src/mavsdk/plugins/component_information_server/component_information_server.cpp ,src/mavsdk/plugins/component_information_server/component_information_server_impl.cpp ,src/mavsdk/plugins/failure/failure.cpp ,src/mavsdk/plugins/failure/failure_impl.cpp ,src/mavsdk/plugins/follow_me/follow_me.cpp ,src/mavsdk/plugins/follow_me/follow_me_impl.cpp ,src/mavsdk/plugins/ftp/ftp.cpp ,src/mavsdk/plugins/ftp/ftp_impl.cpp ,src/mavsdk/plugins/geofence/geofence.cpp ,src/mavsdk/plugins/geofence/geofence_impl.cpp ,src/mavsdk/plugins/gimbal/gimbal.cpp ,src/mavsdk/plugins/gimbal/gimbal_impl.cpp ,src/mavsdk/plugins/gimbal/gimbal_protocol_v1.cpp ,src/mavsdk/plugins/gimbal/gimbal_protocol_v2.cpp ,src/mavsdk/plugins/info/info.cpp ,src/mavsdk/plugins/info/info_impl.cpp ,src/mavsdk/plugins/log_files/log_files.cpp ,src/mavsdk/plugins/log_files/log_files_impl.cpp ,src/mavsdk/plugins/manual_control/manual_control.cpp ,src/mavsdk/plugins/manual_control/manual_control_impl.cpp ,src/mavsdk/plugins/mavlink_passthrough/mavlink_passthrough.cpp ,src/mavsdk/plugins/mavlink_passthrough/mavlink_passthrough_impl.cpp ,src/mavsdk/plugins/mission/mission.cpp ,src/mavsdk/plugins/mission/mission_impl.cpp ,src/mavsdk/plugins/mission_raw/mission_raw.cpp ,src/mavsdk/plugins/mission_raw/mission_raw_impl.cpp ,src/mavsdk/plugins/mission_raw/mission_import.cpp ,src/mavsdk/plugins/mission_raw_server/mission_raw_server.cpp ,src/mavsdk/plugins/mission_raw_server/mission_raw_server_impl.cpp ,src/mavsdk/plugins/mocap/mocap.cpp ,src/mavsdk/plugins/mocap/mocap_impl.cpp ,src/mavsdk/plugins/offboard/offboard.cpp ,src/mavsdk/plugins/offboard/offboard_impl.cpp ,src/mavsdk/plugins/param/param.cpp ,src/mavsdk/plugins/param/param_impl.cpp ,src/mavsdk/plugins/param_server/param_server.cpp ,src/mavsdk/plugins/param_server/param_server_impl.cpp ,src/mavsdk/plugins/server_utility/server_utility.cpp ,src/mavsdk/plugins/server_utility/server_utility_impl.cpp ,src/mavsdk/plugins/shell/shell.cpp ,src/mavsdk/plugins/shell/shell_impl.cpp ,src/mavsdk/plugins/telemetry/telemetry.cpp ,src/mavsdk/plugins/telemetry/telemetry_impl.cpp ,src/mavsdk/plugins/telemetry/math_conversions.cpp ,src/mavsdk/plugins/telemetry_server/telemetry_server.cpp ,src/mavsdk/plugins/telemetry_server/telemetry_server_impl.cpp ,src/mavsdk/plugins/tracking_server/tracking_server.cpp ,src/mavsdk/plugins/tracking_server/tracking_server_impl.cpp ,src/mavsdk/plugins/transponder/transponder.cpp ,src/mavsdk/plugins/transponder/transponder_impl.cpp ,src/mavsdk/plugins/rtk/rtk.cpp ,src/mavsdk/plugins/rtk/rtk_impl.cpp ,src/mavsdk/plugins/tune/tune.cpp ,src/mavsdk/plugins/tune/tune_impl.cpp]#需要包含的头文件include_dirs [src/mavsdk/core,src/mavsdk/core/include/mavsdk,src/mavsdk/plugins/action/include,src/mavsdk/plugins/action_server/include,src/mavsdk/plugins/calibration/include,src/mavsdk/plugins/camera/include,src/mavsdk/plugins/camera/camera_definition_files/generated,src/mavsdk/plugins/component_information/include,src/mavsdk/plugins/component_information_server/include,src/mavsdk/plugins/failure/include,src/mavsdk/plugins/follow_me/include,src/mavsdk/plugins/ftp/include,src/mavsdk/plugins/geofence/include,src/mavsdk/plugins/gimbal/include,src/mavsdk/plugins/info/include,src/mavsdk/plugins/log_files/include,src/mavsdk/plugins/manual_control/include,src/mavsdk/plugins/mavlink_passthrough/include,src/mavsdk/plugins/mission/include,src/mavsdk/plugins/mission_raw/include,src/mavsdk/plugins/mission_raw_server/include,src/mavsdk/plugins/mocap/include,src/mavsdk/plugins/offboard/include,src/mavsdk/plugins/param/include,src/mavsdk/plugins/param_server/include,src/mavsdk/plugins/rtk/include,src/mavsdk/plugins/server_utility/include,src/mavsdk/plugins/shell/include,src/mavsdk/plugins/telemetry/include,src/mavsdk/plugins/telemetry_server/include,src/mavsdk/plugins/tracking_server/include,src/mavsdk/plugins/transponder/include,src/mavsdk/plugins/tune/include,src/mavsdk/plugins/action,src/mavsdk/plugins/action_server,src/mavsdk/plugins/calibration,src/mavsdk/plugins/camera,src/mavsdk/plugins/component_information,src/mavsdk/plugins/component_information_server,src/mavsdk/plugins/failure,src/mavsdk/plugins/follow_me,src/mavsdk/plugins/ftp,src/mavsdk/plugins/geofence,src/mavsdk/plugins/gimbal,src/mavsdk/plugins/info,src/mavsdk/plugins/log_files,src/mavsdk/plugins/manual_control,src/mavsdk/plugins/mavlink_passthrough,src/mavsdk/plugins/mission,src/mavsdk/plugins/mission_raw,src/mavsdk/plugins/mission_raw_server,src/mavsdk/plugins/mocap,src/mavsdk/plugins/offboard,src/mavsdk/plugins/param,src/mavsdk/plugins/param_server,src/mavsdk/plugins/rtk,src/mavsdk/plugins/server_utility,src/mavsdk/plugins/shell,src/mavsdk/plugins/telemetry,src/mavsdk/plugins/telemetry_server,src/mavsdk/plugins/tracking_server,src/mavsdk/plugins/transponder,src/mavsdk/plugins/tune,src/third_party/mavlink,src/third_party/mavlink/mavlink/src/mavlink/include/mavlink/v2.0,src/third_party/mavlink/mavlink/src/mavlink/include/mavlink/v2.0/common,//third_party/jsoncpp/include,//third_party/curl/include,//third_party/tinyxml2,//third_party/zlib,]
}ohos_shared_library(MAVSDK) {deps [ :libmavsdk_source,//third_party/curl:curl_shared,//third_party/openssl:libssl_shared,//third_party/openssl:libcrypto_shared,//third_party/jsoncpp:jsoncpp,//third_party/tinyxml2:tinyxml2] #依赖的三方库part_name MAVSDKsubsystem_name mavsdkoutput_name libmavsdk}ohos_executable(takeoff_and_land) {use_exceptions trueoutput_name takeoff_and_land # 可选模块输出名include_dirs [src/third_party/mavlink/mavlink/src/mavlink/include,src/mavsdk/core/include/mavsdk,src/mavsdk/plugins/action/include,src/mavsdk/plugins/telemetry/include]sources [examples/takeoff_and_land/takeoff_and_land.cpp,examples/takeoff_and_land/autopilot_interface.cpp,]deps [//third_party/MAVSDK:MAVSDK]part_name MAVSDKsubsystem_name MAVSDK}
#演示编译部分
ohos_executable(offboard) { use_exceptions trueoutput_name offboard # 可选模块输出名include_dirs [src/third_party/mavlink/mavlink/src/mavlink/include,src/mavsdk/core/include/mavsdk,src/mavsdk/plugins/offboard/include,src/mavsdk/plugins/action/include,src/mavsdk/plugins/telemetry/include]sources [examples/offboard/offboard.cpp,]deps [//third_party/MAVSDK:MAVSDK]part_name MAVSDKsubsystem_name MAVSDK}#编译测试文件
ohos_unittest(mavsdk_test) {module_out_path MAVSDK/mavsdk_test testonly trueuse_exceptions trueinclude_dirs [ src/mavsdk/core/include/mavsdk,src/mavsdk/plugins/action/include,src/mavsdk/plugins/action_server/include,src/mavsdk/plugins/calibration/include,src/mavsdk/plugins/camera/include,src/mavsdk/plugins/camera/camera_definition_files/generated,src/mavsdk/plugins/component_information/include,src/mavsdk/plugins/component_information_server/include,src/mavsdk/plugins/failure/include,src/mavsdk/plugins/follow_me/include,src/mavsdk/plugins/ftp/include,src/mavsdk/plugins/geofence/include,src/mavsdk/plugins/gimbal/include,src/mavsdk/plugins/info/include,src/mavsdk/plugins/log_files/include,src/mavsdk/plugins/manual_control/include,src/mavsdk/plugins/mavlink_passthrough/include,src/mavsdk/plugins/mission/include,src/mavsdk/plugins/mission_raw/include,src/mavsdk/plugins/mission_raw_server/include,src/mavsdk/plugins/mocap/include,src/mavsdk/plugins/offboard/include,src/mavsdk/plugins/param/include,src/mavsdk/plugins/param_server/include,src/mavsdk/plugins/rtk/include,src/mavsdk/plugins/server_utility/include,src/mavsdk/plugins/shell/include,src/mavsdk/plugins/telemetry/include,src/mavsdk/plugins/telemetry_server/include,src/mavsdk/plugins/tracking_server/include,src/mavsdk/plugins/transponder/include,src/mavsdk/plugins/tune/include,src/mavsdk/core,src/mavsdk/plugins/action,src/mavsdk/plugins/action_server,src/mavsdk/plugins/calibration,src/mavsdk/plugins/camera,src/mavsdk/plugins/component_information,src/mavsdk/plugins/component_information_server,src/mavsdk/plugins/failure,src/mavsdk/plugins/follow_me,src/mavsdk/plugins/ftp,src/mavsdk/plugins/geofence,src/mavsdk/plugins/gimbal,src/mavsdk/plugins/info,src/mavsdk/plugins/log_files,src/mavsdk/plugins/manual_control,src/mavsdk/plugins/mavlink_passthrough,src/mavsdk/plugins/mission,src/mavsdk/plugins/mission_raw,src/mavsdk/plugins/mission_raw_server,src/mavsdk/plugins/mocap,src/mavsdk/plugins/offboard,src/mavsdk/plugins/param,src/mavsdk/plugins/param_server,src/mavsdk/plugins/rtk,src/mavsdk/plugins/server_utility,src/mavsdk/plugins/shell,src/mavsdk/plugins/telemetry,src/mavsdk/plugins/telemetry_server,src/mavsdk/plugins/tracking_server,src/mavsdk/plugins/transponder,src/mavsdk/plugins/tune,src/third_party/mavlink,src/third_party/curl/curl/src/curl/include,src/third_party/install/include,src/third_party/mavlink/mavlink/src/mavlink/include/mavlink/v2.0,src/third_party/mavlink/mavlink/src/mavlink/include/mavlink/v2.0/common,]sources [src/mavsdk/core/mavsdk_time_test.cpp ,src/mavsdk/core/mavsdk_math_test.cpp ,src/mavsdk/core/mavlink_channels_test.cpp ,src/mavsdk/core/unittests_main.cpp ,src/mavsdk/core/timeout_handler_test.cpp ,src/mavsdk/core/call_every_handler_test.cpp ,src/mavsdk/core/curl_test.cpp ,src/mavsdk/core/cli_arg_test.cpp ,src/mavsdk/core/locked_queue_test.cpp ,src/mavsdk/core/safe_queue_test.cpp ,src/mavsdk/core/mavsdk_test.cpp ,src/mavsdk/core/mavlink_mission_transfer_test.cpp ,src/mavsdk/core/mavlink_statustext_handler_test.cpp ,src/mavsdk/core/geometry_test.cpp ,src/mavsdk/core/ringbuffer_test.cpp ,src/mavsdk/plugins/calibration/calibration_statustext_parser_test.cpp ,src/mavsdk/plugins/camera/camera_definition_test.cpp ,src/mavsdk/plugins/mission_raw/mission_import_test.cpp ,src/mavsdk/plugins/telemetry/math_conversions_test.cpp]deps [//third_party/MAVSDK:MAVSDK,//third_party/googletest:gmock_main,//third_party/googletest:gtest_main]part_name MAVSDK
}
通过以上操作以后就可以在 OpenHarmony 编译源码了
./build.sh --product-name rpi4 --build-targetMAVSDK --ccache
编译完成以后可以在 out/rpi4/mavsdk/MAVSDK 目录下看到编译生成的 libmavsdk.z.so 文件。
同时还可以在 ohos/out/rpi4/tests/unittest/MAVSDK/mavsdk_test/mavsdk_test 目录下看到我们编译的测试文件如下所示 接下来把编译完成的 so 及测试文件到 RPI4 开发板中运行测试文件验证整个库的移植情况。
最后
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