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dji-sdk / Onboard-SDK

DJI Onboard SDK Official Repository
https://github.com/dji-sdk/Onboard-SDK
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Cannot build samples #804

Open durka opened 3 years ago

durka commented 3 years ago

I am trying to build the OSDK on Ubuntu 20.04. I don't need advanced sensing and I can't install ffmpeg, so I made the following changes:

diff --git a/CMakeLists.txt b/CMakeLists.txt
index c4f0f040..5f1538cd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -54,9 +54,6 @@ endif()
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin)
 set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/libs)

-set(ADVANCED_SENSING 1)
-set(WAYPT2_CORE 1)
-
 if (ADVANCED_SENSING)
   add_definitions(-DADVANCED_SENSING)
 endif()

diff --git a/osdk-core/CMakeLists.txt b/osdk-core/CMakeLists.txt
index 2ae21b13..98a26ede 100755
--- a/osdk-core/CMakeLists.txt
+++ b/osdk-core/CMakeLists.txt
@@ -129,20 +129,6 @@ add_library(${PROJECT_NAME}
         STATIC
         ${OSDK_LIB_SRCS})

-add_subdirectory(advanced-sensing)
-
-
-set(ADVANCED_SENSING_SOURCE_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/advanced-sensing)
-set(ADVANCED_SENSING_HEADERS_DIR
-    ${ADVANCED_SENSING_SOURCE_ROOT}/api/inc
-    ${ADVANCED_SENSING_SOURCE_ROOT}/platform/inc
-    ${ADVANCED_SENSING_SOURCE_ROOT}/protocol/inc
-    ${ADVANCED_SENSING_SOURCE_ROOT}/camera_stream/src
-    ${ADVANCED_SENSING_SOURCE_ROOT}/ori-osdk-core/protocol/inc
-    ${ADVANCED_SENSING_SOURCE_ROOT}/ori-osdk-core/hal/inc
-    ${ADVANCED_SENSING_SOURCE_ROOT}/ori-osdk-core/platform/linux/inc
-    )
-
 ## Libraries to propagate as dependencies to third-party code depending on osdk-core
 ## Append to this variable when you want a dependency to get propagated
 SET(OSDK_INTERFACE_LIBS pthread) # pthread is assumed available on linux
@@ -158,6 +144,20 @@ SET(MODULE_INSTALL_INTERFACE "")

 ## Advanced Sensing
 if(ADVANCED_SENSING)
+    add_subdirectory(advanced-sensing)
+
+
+    set(ADVANCED_SENSING_SOURCE_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/advanced-sensing)
+    set(ADVANCED_SENSING_HEADERS_DIR
+        ${ADVANCED_SENSING_SOURCE_ROOT}/api/inc
+        ${ADVANCED_SENSING_SOURCE_ROOT}/platform/inc
+        ${ADVANCED_SENSING_SOURCE_ROOT}/protocol/inc
+        ${ADVANCED_SENSING_SOURCE_ROOT}/camera_stream/src
+        ${ADVANCED_SENSING_SOURCE_ROOT}/ori-osdk-core/protocol/inc
+        ${ADVANCED_SENSING_SOURCE_ROOT}/ori-osdk-core/hal/inc
+        ${ADVANCED_SENSING_SOURCE_ROOT}/ori-osdk-core/platform/linux/inc
+        )
+

diff --git a/sample/platform/linux/CMakeLists.txt b/sample/platform/linux/CMakeLists.txt
index 629df7ce..0838bde5 100644
--- a/sample/platform/linux/CMakeLists.txt
+++ b/sample/platform/linux/CMakeLists.txt
@@ -92,20 +92,20 @@ include_directories(${ADVANCED_SENSING_HEADERS_DIR})
 message((${ADVANCED_SENSING_HEADERS_DIR}))

 find_package(LibUSB REQUIRED)
-find_package(FFMPEG REQUIRED)
+find_package(FFMPEG)
 #find_package(Waypt2Core REQUIRED)

 if(FFMPEG_FOUND)
     message( STATUS "Found FFmpeg ${FFMPEG_VERSION} installed in the system.")
     message( STATUS " - Includes: ${FFMPEG_INCLUDE_DIRS}")
     message( STATUS " - Libraries: ${FFMPEG_LIBRARIES}")
+    include_directories(${FFMPEG_INCLUDE_DIR})
 else()
     message("Cannot Find FFMPEG")
 endif(FFMPEG_FOUND)

 include_directories(${LIBUSB_1_INCLUDE_DIRS})
-include_directories(${FFMPEG_INCLUDE_DIR})
 #include_directories(${WAYPT2_CORE_INCLUDE_DIRS})

 #link libraries
@@ -113,6 +113,7 @@ include_directories(${FFMPEG_INCLUDE_DIR})
 #link_libraries(${OSDK_CORE_LIB}/lib/libdjiosdk-core.a)

 if(ADVANCED_SENSING)
+    add_subdirectory(advanced-sensing)
     link_libraries(advanced-sensing)
     link_libraries(djiosdk-core)
     link_libraries(${LIBUSB_1_LIBRARIES})
@@ -151,7 +152,6 @@ add_subdirectory(logging)
 add_subdirectory(time-sync)
 add_subdirectory(payload-3rd-party)
 add_subdirectory(payloads)
-add_subdirectory(advanced-sensing)
 add_subdirectory(hms)
 add_subdirectory(battery)
 add_subdirectory(mop)

Now I am building with this script:

rm -rf build
mkdir build
cd build
cmake .. -DADVANCED_SENSING=OFF -DCMAKE_BUILD_TYPE=Debug
make

This fails with hundreds of "undefined reference" errors:

[ 33%] Linking CXX executable ../../../../bin/djiosdk-flightcontrol-sample                                                                                                                 
CMakeFiles/djiosdk-flightcontrol-sample.dir/flight_control_sample.cpp.o: In function `monitoredTakeoff(DJI::OSDK::Vehicle*, int)':                                                         
/home/exyn/workspaces/2/git/dji_sdk_upstream/sample/platform/linux/flight-control/flight_control_sample.cpp:50: undefined reference to `DJI::OSDK::Vehicle::isM100()'                      
/home/exyn/workspaces/2/git/dji_sdk_upstream/sample/platform/linux/flight-control/flight_control_sample.cpp:50: undefined reference to `DJI::OSDK::Vehicle::isLegacyM600()'                
/home/exyn/workspaces/2/git/dji_sdk_upstream/sample/platform/linux/flight-control/flight_control_sample.cpp:54: undefined reference to `DJI::OSDK::DataSubscription::verify(int)'          
/home/exyn/workspaces/2/git/dji_sdk_upstream/sample/platform/linux/flight-control/flight_control_sample.cpp:55: undefined reference to `DJI::OSDK::ACK::getError(DJI::OSDK::ACK::ErrorCode)
'                                                                                                                                                                                          
/home/exyn/workspaces/2/git/dji_sdk_upstream/sample/platform/linux/flight-control/flight_control_sample.cpp:55: undefined reference to `DJI::OSDK::ACK::SUCCESS'                           
/home/exyn/workspaces/2/git/dji_sdk_upstream/sample/platform/linux/flight-control/flight_control_sample.cpp:57: undefined reference to `DJI::OSDK::ACK::getErrorCodeMessage(DJI::OSDK::ACK:
:ErrorCode, char const*)'                                                                                                                                                                  
/home/exyn/workspaces/2/git/dji_sdk_upstream/sample/platform/linux/flight-control/flight_control_sample.cpp:70: undefined reference to `DJI::OSDK::DataSubscription::initPackageFromTopicLi
st(int, int, DJI::OSDK::Telemetry::TopicName*, bool, unsigned short)'                                                                                                                      
/home/exyn/workspaces/2/git/dji_sdk_upstream/sample/platform/linux/flight-control/flight_control_sample.cpp:75: undefined reference to `DJI::OSDK::DataSubscription::startPackage(int, int)
'                                                                                                                                                                                          
/home/exyn/workspaces/2/git/dji_sdk_upstream/sample/platform/linux/flight-control/flight_control_sample.cpp:76: undefined reference to `DJI::OSDK::ACK::getError(DJI::OSDK::ACK::ErrorCode)
'                                                                                                                                                                                          
/home/exyn/workspaces/2/git/dji_sdk_upstream/sample/platform/linux/flight-control/flight_control_sample.cpp:76: undefined reference to `DJI::OSDK::ACK::SUCCESS'                           
/home/exyn/workspaces/2/git/dji_sdk_upstream/sample/platform/linux/flight-control/flight_control_sample.cpp:78: undefined reference to `DJI::OSDK::ACK::getErrorCodeMessage(DJI::OSDK::ACK:
:ErrorCode, char const*)'                                                                                                                                                                  
/home/exyn/workspaces/2/git/dji_sdk_upstream/sample/platform/linux/flight-control/flight_control_sample.cpp:80: undefined reference to `DJI::OSDK::DataSubscription::removePackage(int, int
)'                                                                                                                                                                                         
/home/exyn/workspaces/2/git/dji_sdk_upstream/sample/platform/linux/flight-control/flight_control_sample.cpp:86: undefined reference to `DJI::OSDK::Control::takeoff(int)'                  
...

What am I doing wrong?

durka commented 1 year ago

Since no help for this issue appears to be forthcoming, I recommend checking out the latest working tag 4.0.1 if you want to use the samples.