Unable to compile/link when importing OSDK with Advanced Sensing

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Cseiber
  • 已编辑于

I am trying to compile a file that imports the OSDK and uses advanced sensing. Everything seems to build, but during linking I get an error. This is my CMake file.

```
cmake_minimum_required(VERSION 3.0)
project(camera_access)

# Set compiler flags + our source files
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread -g -O0")
set(THREADS_PREFER_PTHREAD_FLAG ON)
set(SRC_FILES ${SRC_FILES} camera_access.cpp)

# Enable advanced sensing
set(ADVANCED_SENSING 1)
if (ADVANCED_SENSING)
add_definitions(-DADVANCED_SENSING)
endif()

# CPU-specific stuff
if(CMAKE_SYSTEM_PROCESSOR MATCHES "i386|i686|x86|AMD64|x86_64")
set(ARCH x86)
add_definitions(-DDJIOSDK_HARDWARE_TYPE=3)
elseif((CMAKE_SYSTEM_PROCESSOR MATCHES "^arm*") OR (CMAKE_SYSTEM_PROCESSOR MATCHES "^aarch"))
if(CMAKE_SIZEOF_VOID_P EQUAL 4)
set(ARCH armv7)
add_definitions(-DDJIOSDK_HARDWARE_TYPE=1)
elseif(CMAKE_SIZEOF_VOID_P EQUAL 8)
set(ARCH armv8)
add_definitions(-DDJIOSDK_HARDWARE_TYPE=2)
endif()
elseif()
add_definitions(-DDJIOSDK_HARDWARE_TYPE=0)
endif()

# Set the DJI sources
if (NOT ONBOARDSDK_SOURCE)
set(ONBOARDSDK_SOURCE "~/Projects/Onboard-SDK/osdk-core")
endif()
set(ORI_OSDK_CORE_SRC "${ONBOARDSDK_SOURCE}/advanced-sensing/ori-osdk-core")

# Include DJI header directories
include_directories(${ONBOARDSDK_SOURCE}/api/inc)
include_directories(${ONBOARDSDK_SOURCE}/utility/inc)
include_directories(${ONBOARDSDK_SOURCE}/hal/inc)
include_directories(${ONBOARDSDK_SOURCE}/protocol/inc)
include_directories(${ONBOARDSDK_SOURCE}/platform/linux/inc)
include_directories(${ONBOARDSDK_SOURCE}/platform/${ARCH}/inc)
include_directories(${ONBOARDSDK_SOURCE}/../sample/platform/linux/hal)
include_directories(${ONBOARDSDK_SOURCE}/../sample/platform/linux/hal/hotplug)
include_directories(${ONBOARDSDK_SOURCE}/../sample/platform/linux/osal)
include_directories(${ONBOARDSDK_SOURCE}/../sample/sore/inc)
include_directories(${ONBOARDSDK_SOURCE}/..sample/platform/linux/hal)
include_directories(${ONBOARDSDK_SOURCE}/..sample/platform/linux/hal/hotplug)
include_directories(${ONBOARDSDK_SOURCE}/..sample/platform/linux/osal)
include_directories(${ONBOARDSDK_SOURCE}/..sample/sore/inc)
include_directories(include /usr/local/include)
include_directories(include /usr/local/lib)

# Find OpenCV
find_package(OpenCV)
if (OpenCV_FOUND)
message("\n${PROJECT_NAME}...")
message(STATUS "Found OpenCV installed in the system, will use it to display image in AdvancedSensing APIs")
message(STATUS " - Includes: ${OpenCV_INCLUDE_DIRS}")
message(STATUS " - Libraries: ${OpenCV_LIBRARIES}")
add_definitions(-DOPEN_CV_INSTALLED)
else()
message( STATUS "Did not find OpenCV in the system, image data is inside RecvContainer as raw data")
endif ()

# Find LibUSB
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${ORI_OSDK_CORE_SRC}/cmake-modules/")
find_package(LibUSB REQUIRED)
include_directories(${LIBUSB_1_INCLUDE_DIRS})
find_package(FFMPEG REQUIRED)
include_directories(${ADVANCED_SENSING_HEADERS_DIR})
include_directories(${CLOSED_SRC_DIR})

set(HELPER_FUNCTIONS_DIR "~/Projects/Onboard-SDK/sample/platform/linux")
include_directories(${HELPER_FUNCTIONS_DIR}/common)
FILE(GLOB SRC_FILES *.hpp *.cpp
${HELPER_FUNCTIONS_DIR}/common/dji_linux_environment.cpp
${HELPER_FUNCTIONS_DIR}/common/dji_linux_helpers.cpp
${HELPER_FUNCTIONS_DIR}/hal/osdkhal_linux.c
${HELPER_FUNCTIONS_DIR}/osal/osdkosal_linux.c
)

if (OSDK_HOTPLUG)
FILE(GLOB SRC_FILES ${SRC_FILES} ${ONBOARDSDK_SOURCE}/../sample/platform/linux/hal/hotplug/*.c)
endif ()

# Finish up
add_executable(${PROJECT_NAME}
${SRC_FILES}
${HELPER_FUNCTIONS_DIR}/common/dji_linux_environment.cpp
${HELPER_FUNCTIONS_DIR}/common/dji_linux_helpers.cpp
~/Projects/drone_research_root/flight_algorithm/camera_access/camera_access.cpp
)

target_link_libraries(${PROJECT_NAME} PUBLIC ${FFMPEG_LIBRARIES} pthread)

FILE(GLOB ADVANCED_SENSING_HEADERS
${CMAKE_CURRENT_SOURCE_DIR}/api/inc/dji_advanced_sensing.hpp
${CMAKE_CURRENT_SOURCE_DIR}/api/inc/dji_liveview.hpp
${CMAKE_CURRENT_SOURCE_DIR}/api/inc/dji_perception.hpp
${CMAKE_CURRENT_SOURCE_DIR}/platform/inc/*.h*
${CMAKE_CURRENT_SOURCE_DIR}/protocol/inc/*.h*
${CMAKE_CURRENT_SOURCE_DIR}/camera_stream/src/dji_camera_image.hpp
${CMAKE_CURRENT_SOURCE_DIR}/camera_stream/src/dji_camera_stream.hpp
${ORI_OSDK_CORE_SRC}/protocol/inc/dji_aes.hpp
${ORI_OSDK_CORE_SRC}/protocol/inc/dji_protocol_base.hpp
${ORI_OSDK_CORE_SRC}/hal/inc/dji_hard_driver.hpp
${ORI_OSDK_CORE_SRC}/hal/inc/dji_memory.hpp
${ORI_OSDK_CORE_SRC}/hal/inc/dji_thread_manager.hpp
${ORI_OSDK_CORE_SRC}/platform/linux/inc/posix_thread_manager.hpp
)

FILE(GLOB CLOSED_SRC
api/src/*.cpp
protocol/src/*.cpp
platform/src/*.cpp
camera_stream/src/*.cpp
camera_stream/udt/src/*.cpp
${CMAKE_CURRENT_SOURCE_DIR}/../v1/protocol/src/*.cpp
${CMAKE_CURRENT_SOURCE_DIR}/../v1/api/src/*.cpp
${ORI_OSDK_CORE_SRC}/protocol/src/*.cpp
${ORI_OSDK_CORE_SRC}/hal/src/*.cpp
${ORI_OSDK_CORE_SRC}/platform/linux/src/linux_serial_device.cpp
${ORI_OSDK_CORE_SRC}/platform/linux/src/posix_thread_manager.cpp
${ORI_OSDK_CORE_SRC}/platform/default/src/*.cpp
${ORI_OSDK_CORE_SRC}/utility/src/*.cpp
)

if (NOT TARGET camera_access)
add_library(${PROJECT_NAME} STATIC ${CLOSED_SRC})
endif()

link_libraries(dji-linker)
link_directories(/usr/local/include /usr/local/lib)
link_libraries(${ONBOARDSDK_SOURCE}/linker/${ARCH}/lib/libdji-linker.a)

target_include_directories(${PROJECT_NAME} PRIVATE ${OpenCV_INCLUDE_DIRS})
target_include_directories(${PROJECT_NAME} PRIVATE ${CLOSED_SRC})

# Link libraries
if (OpenCV_FOUND)
target_link_libraries(${PROJECT_NAME} PUBLIC
${OpenCV_LIBS}
)
endif ()

target_link_libraries(${PROJECT_NAME} PUBLIC djiosdk-core)
target_link_libraries(${PROJECT_NAME} PUBLIC dji-linker)
target_include_directories(${PROJECT_NAME} PUBLIC ${LIBUSB_1_INCLUDE_DIRS})
target_link_libraries(${PROJECT_NAME} PUBLIC ${LIBUSB_1_LIBRARIES})
target_link_libraries(${PROJECT_NAME} PUBLIC ${FFMPEG_LIBRARIES})
target_include_directories(${PROJECT_NAME} PUBLIC $<BUILD_INTERFACE:${ADVANCED_SENSING_HEADERS_DIR}>)
target_link_libraries(${PROJECT_NAME} PRIVATE advanced-sensing)
target_include_directories(${PROJECT_NAME} PUBLIC ${FFMPEG_INCLUDE_DIR})
target_link_libraries(${PROJECT_NAME} PUBLIC ${FFMPEG_LIBRARIES})
target_link_libraries(${PROJECT_NAME} PUBLIC ${ONBOARDSDK_SOURCE}/linker/${ARCH}/lib/libdji-linker.a)
```

This is the error I get after the `cmake --build` call

```
[ 25%] Linking CXX executable camera_access
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0x0): undefined reference to `OsdkLinux_UartInit'
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0x8): undefined reference to `OsdkLinux_UartSendData'
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0x10): undefined reference to `OsdkLinux_UartReadData'
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0x18): undefined reference to `OsdkLinux_UartClose'
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0x20): undefined reference to `OsdkLinux_USBBulkInit'
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0x28): undefined reference to `OsdkLinux_USBBulkSendData'
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0x30): undefined reference to `OsdkLinux_USBBulkReadData'
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0x38): undefined reference to `OsdkLinux_USBBulkClose'
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0x40): undefined reference to `OsdkLinux_TaskCreate'
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0x48): undefined reference to `OsdkLinux_TaskDestroy'
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0x50): undefined reference to `OsdkLinux_TaskSleepMs'
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0x58): undefined reference to `OsdkLinux_MutexCreate'
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0x60): undefined reference to `OsdkLinux_MutexDestroy'
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0x68): undefined reference to `OsdkLinux_MutexLock'
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0x70): undefined reference to `OsdkLinux_MutexUnlock'
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0x78): undefined reference to `OsdkLinux_SemaphoreCreate'
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0x80): undefined reference to `OsdkLinux_SemaphoreDestroy'
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0x88): undefined reference to `OsdkLinux_SemaphoreWait'
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0x90): undefined reference to `OsdkLinux_SemaphoreTimedWait'
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0x98): undefined reference to `OsdkLinux_SemaphorePost'
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0xa0): undefined reference to `OsdkLinux_GetTimeMs'
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0xa8): undefined reference to `OsdkLinux_Malloc'
CMakeFiles/camera_access.dir/home/caroline/Projects/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data.rel+0xb0): undefined reference to `OsdkLinux_Free'
collect2: error: ld returned 1 exit status
CMakeFiles/camera_access.dir/build.make:189: recipe for target 'camera_access' failed
make[2]: *** [camera_access] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/camera_access.dir/all' failed
make[1]: *** [CMakeFiles/camera_access.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
```
As you can see in my CMake file, I am already importing both hal/osdkhal_linux.c and osal/osdkosal_linux.c. I would also love to remove anything unnecessary from the rather large CMake file.

Thank you.

0

评论

3 条评论

日期 投票数
  • DJI Developer Support
    This issue seems same as the github issue, which maybe give you some referrcence. https://github.com/dji-sdk/Onboard-SDK/issues/770
    0
    评论操作 固定链接
  • Cseiber
    • 已编辑于

    Thank you for your reply. I am aware of that post and had gone through it to try and solve my issue. However, that person’s problem was resolved by importing these files:

    FILE(GLOB SOURCE_FILES *.hpp *.cpp

    ${CMAKE_CURRENT_SOURCE_DIR}/../common/dji_linux_environment.cpp

    ${CMAKE_CURRENT_SOURCE_DIR}/../common/dji_linux_helpers.cpp

    ${CMAKE_CURRENT_SOURCE_DIR}/../hal/osdkhal_linux.c

    ${CMAKE_CURRENT_SOURCE_DIR}/../osal/osdkosal_linux.c

             )

    However, as I mentioned in my question, and I am already importing these files and still having the same issue.

    Thank you

    0
    评论操作 固定链接
  • DJI Developer Support
    Dear developer , Thank you for contacting DJI. The compilation configuration environment corresponds to the code project your own. The information currently provided can only show the abnormal linked source file. I'm sorry that the developer's own development code has exceeded the DJI SDK support . It is recommended that you check your own code project with the configuration. Thank you for your understanding and support, hope you have a nice day. Best Regards, DJI SDK Support Team
    0
    评论操作 固定链接

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