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Help creating CMakeList.txt for own project #770

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Hepan02 opened this issue May 7, 2021 · 8 comments
Closed

Help creating CMakeList.txt for own project #770

Hepan02 opened this issue May 7, 2021 · 8 comments

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@Hepan02
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Hepan02 commented May 7, 2021

Dear Community.
I would like to compile my own project. I have error with **make**. cmake .. works properly.

I tried to compile the example in /Onboard-SDK/sample/platform/telemetry.
I did mkdir build and cd build in telemetry directory.

This is my CMakeList.txt

cmake_minimum_required(VERSION 2.8)
project(djiosdk-telemetry-sample)

# Compiler flags: link with pthread and enable C++11 support
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread -g -O0")

# Tell the project where osdk-core is located
if(NOT ONBOARDSDK_SOURCE)
	set(ONBOARDSDK_SOURCE "/home/pi/Onboard-SDK/osdk-core")
	#set(ONBOARDSDK_SOURCE "/usr/local/include")

endif()

# Specify locations for osdk-core headers
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(${ONBOARDSDK_SOURCE}/platform/linux/inc)
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/../hal)
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/../osal)
include_directories(include /usr/local/include)
include_directories(${ONBOARDSDK_SOURCE}/../sample/core/inc)

# User-code related project files
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/../common)
FILE(GLOB SOURCE_FILES *.hpp *.cpp
	${CMAKE_CURRENT_SOURCE_DIR}/../common/dji_linux_environment.cpp
	${CMAKE_CURRENT_SOURCE_DIR}/../common/dji_linux_helpers.cpp
	main.cpp
	telemetry_sample.cpp
	)

if (OSDK_HOTPLUG)
    FILE(GLOB SOURCE_FILES ${SOURCE_FILES} ${CMAKE_CURRENT_SOURCE_DIR}/../hal/hotplug/*.c)
endif ()

# Target and linking
add_executable(${PROJECT_NAME} ${SOURCE_FILES})
target_link_libraries(${PROJECT_NAME} djiosdk-core)

This is the result after make

[ 20%] Linking CXX executable djiosdk-telemetry-sample
/usr/bin/ld: //usr/local/lib/libdjiosdk-core.a(dji_legacy_linker.cpp.o): in function `DJI::OSDK::LegacyLinker::legacyX5SEnableTask(void*)':
/home/pi/Onboard-SDK/osdk-core/api/src/dji_legacy_linker.cpp:69: **undefined reference to `DJI::OSDK**::Linker::getLocalSenderId()'
/usr/bin/ld: /home/pi/Onboard-SDK/osdk-core/api/src/dji_legacy_linker.cpp:71: **undefined reference** to `OsdkOsal_TaskSleepMs'
/usr/bin/ld: /home/pi/Onboard-SDK/osdk-core/api/src/dji_legacy_linker.cpp:72: **undefined reference** to `**DJI::OSDK**::Linker::isUSBPlugged()'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/djiosdk-telemetry-sample.dir/build.make:129: djiosdk-telemetry-sample] Error 1
make[1]: *** [CMakeFiles/Makefile2:76: CMakeFiles/djiosdk-telemetry-sample.dir/all] Error 2
make: *** [Makefile:84: all] Error 2

I often have [100%] Linking CXX executable djiosdk-telemetry-sample.
The main problem is with "undefined reference".
I create CMakeList.txt according to: https://developer.dji.com/onboard-sdk/documentation/development-workflow/integrate-sdk.html

What I should do?
@dji-dev
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dji-dev commented May 7, 2021

Agent comment from kyle.cai in Zendesk ticket #47358:

Dear developer ,

Thank you for contacting DJI.

The lib: libdji-linker.a should be added(linked) to your project.
https://github.com/dji-sdk/Onboard-SDK/tree/master/osdk-core/linker
​

Thank you for your understanding and support, hope you have a nice day.

Best Regards,
DJI SDK Support Team
inline-703265209.png

°°°

@Hepan02
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Hepan02 commented May 7, 2021

Dear Agent,
I resolved most problems with "undefined reference". But still have some...
I added:

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

target_link_libraries(${PROJECT_NAME} PUBLIC djiosdk-core)
target_link_libraries(${PROJECT_NAME} PUBLIC  dji-linker)
target_link_libraries(${PROJECT_NAME} PUBLIC ${ONBOARDSDK_SOURCE}/linker/${ARCH}/lib/libdji-linker.a)
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 ${FFMPEG_LIBRARIES})
target_link_libraries(${PROJECT_NAME} PRIVATE advanced-sensing)

It helped but I have now these errors:

/usr/bin/ld: CMakeFiles/djiosdk-telemetry-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data+0x8): undefined reference to `OsdkLinux_UartInit'
/usr/bin/ld: CMakeFiles/djiosdk-telemetry-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data+0xc): undefined reference to `OsdkLinux_UartSendData'
/usr/bin/ld: CMakeFiles/djiosdk-telemetry-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data+0x10): undefined reference to `OsdkLinux_UartReadData'
/usr/bin/ld: CMakeFiles/djiosdk-telemetry-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data+0x14): undefined reference to `OsdkLinux_UartClose'
/usr/bin/ld: CMakeFiles/djiosdk-telemetry-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data+0x18): undefined reference to `OsdkLinux_TaskCreate'
/usr/bin/ld: CMakeFiles/djiosdk-telemetry-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data+0x1c): undefined reference to `OsdkLinux_TaskDestroy'
/usr/bin/ld: CMakeFiles/djiosdk-telemetry-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data+0x20): undefined reference to `OsdkLinux_TaskSleepMs'
/usr/bin/ld: CMakeFiles/djiosdk-telemetry-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data+0x24): undefined reference to `OsdkLinux_MutexCreate'
/usr/bin/ld: CMakeFiles/djiosdk-telemetry-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data+0x28): undefined reference to `OsdkLinux_MutexDestroy'
/usr/bin/ld: CMakeFiles/djiosdk-telemetry-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data+0x2c): undefined reference to `OsdkLinux_MutexLock'
/usr/bin/ld: CMakeFiles/djiosdk-telemetry-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data+0x30): undefined reference to `OsdkLinux_MutexUnlock'
/usr/bin/ld: CMakeFiles/djiosdk-telemetry-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data+0x34): undefined reference to `OsdkLinux_SemaphoreCreate'
/usr/bin/ld: CMakeFiles/djiosdk-telemetry-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data+0x38): undefined reference to `OsdkLinux_SemaphoreDestroy'
/usr/bin/ld: CMakeFiles/djiosdk-telemetry-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data+0x3c): undefined reference to `OsdkLinux_SemaphoreWait'
/usr/bin/ld: CMakeFiles/djiosdk-telemetry-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data+0x40): undefined reference to `OsdkLinux_SemaphoreTimedWait'
/usr/bin/ld: CMakeFiles/djiosdk-telemetry-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data+0x44): undefined reference to `OsdkLinux_SemaphorePost'
/usr/bin/ld: CMakeFiles/djiosdk-telemetry-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data+0x48): undefined reference to `OsdkLinux_GetTimeMs'
/usr/bin/ld: CMakeFiles/djiosdk-telemetry-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data+0x4c): undefined reference to `OsdkLinux_Malloc'
/usr/bin/ld: CMakeFiles/djiosdk-telemetry-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o:(.data+0x50): undefined reference to `OsdkLinux_Free'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/djiosdk-telemetry-sample.dir/build.make:144: djiosdk-telemetry-sample] Error 1
make[1]: *** [CMakeFiles/Makefile2:76: CMakeFiles/djiosdk-telemetry-sample.dir/all] Error 2
make: *** [Makefile:84: all] Error 2

Which library I should also add to the CMakeList.txt?

@Hepan02
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Hepan02 commented May 7, 2021

@DJI-Jerry
@dji-dev

Can you help me?

@dji-dev
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Contributor

dji-dev commented May 8, 2021

Agent comment from kyle.cai in Zendesk ticket #47358:

Dear developer ,

Thank you for contacting DJI.

​
source code file: osdkhal_linux.c should be added to your compile environment:
https://github.com/dji-sdk/Onboard-SDK/tree/master/sample/platform/linux/hal
https://github.com/dji-sdk/Onboard-SDK/tree/master/sample/platform/linux/osal

Thank you for your understanding and support, hope you have a nice day.

Best Regards,
DJI SDK Support Team
inline1901882263.png

°°°

@Hepan02
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Hepan02 commented May 8, 2021

Dear, Agent. Now it works. Thank you!

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
	)

@Hepan02
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Hepan02 commented May 8, 2021 •
edited

The proper CMakeList.txt for creating your own project (example based on telemetry sample):

cmake_minimum_required(VERSION 2.8)
project(djiosdk-telemetry-sample)

set(ARCH armv7)

# Compiler flags: link with pthread and enable C++11 support
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread -g -O0")


# Tell the project where osdk-core is located
if(NOT ONBOARDSDK_SOURCE)
	set(ONBOARDSDK_SOURCE "/home/pi/Onboard-SDK/osdk-core")
endif()
set(CURRENT_CMAKE_MODULE_PATH ${ONBOARDSDK_SOURCE}/cmake-modules)

# Specify locations for osdk-core headers
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}/linker/${ARCH}/inc)
include_directories(${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(include /usr/local/include)
include_directories(include /usr/local/lib)
include_directories(${ONBOARDSDK_SOURCE}/../sample/core/inc)


# User-code related project files
include_directories(${ONBOARDSDK_SOURCE}/../sample/platform/linux/common)
FILE(GLOB SOURCE_FILES *.hpp *.cpp
	${ONBOARDSDK_SOURCE}/../sample/platform/linux/common/dji_linux_environment.cpp
	${ONBOARDSDK_SOURCE}/../sample/platform/linux/common/dji_linux_helpers.cpp
	${ONBOARDSDK_SOURCE}/../sample/platform/linux/hal/osdkhal_linux.c
	${ONBOARDSDK_SOURCE}/../sample/platform/linux/osal/osdkosal_linux.c
	)

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

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

set(CMAKE_MODULE_PATH ${CURRENT_CMAKE_MODULE_PATH})
find_package(LibUSB REQUIRED)
find_package(FFMPEG REQUIRED)
include_directories(${ADVANCED_SENSING_HEADERS_DIR})

# Target and linking
add_executable(${PROJECT_NAME} ${SOURCE_FILES})

target_link_libraries(${PROJECT_NAME} PUBLIC djiosdk-core)
target_link_libraries(${PROJECT_NAME} PUBLIC  dji-linker)
target_link_libraries(${PROJECT_NAME} PUBLIC ${ONBOARDSDK_SOURCE}/linker/${ARCH}/lib/libdji-linker.a)
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})

@Hepan02 Hepan02 closed this as completed May 8, 2021
@highfreq
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highfreq commented Nov 22, 2021 •
edited

Tested you CMakelists.txt for telemetry and it works, do you know what adjustments should be done to have it working for flight-control ??
If i use same CMakeLists.txt as the one used to build telemetry it fails at the end when linking CXX executable.
I am trying to understand what each needs.

Scanning dependencies of target djiosdk-flightcontrol-sample
[ 14%] Building CXX object CMakeFiles/djiosdk-flightcontrol-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/common/dji_linux_environment.cpp.o
[ 28%] Building CXX object CMakeFiles/djiosdk-flightcontrol-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/common/dji_linux_helpers.cpp.o
[ 42%] Building C object CMakeFiles/djiosdk-flightcontrol-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/hal/osdkhal_linux.c.o
[ 57%] Building C object CMakeFiles/djiosdk-flightcontrol-sample.dir/home/pi/Onboard-SDK/sample/platform/linux/osal/osdkosal_linux.c.o
[ 71%] Building CXX object CMakeFiles/djiosdk-flightcontrol-sample.dir/flight_control_sample.cpp.o
[ 85%] Building CXX object CMakeFiles/djiosdk-flightcontrol-sample.dir/main.cpp.o
[100%] Linking CXX executable djiosdk-flightcontrol-sample
/usr/bin/ld: CMakeFiles/djiosdk-flightcontrol-sample.dir/main.cpp.o: in function main': /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:72: undefined reference to FlightSample::FlightSample(DJI::OSDK::Vehicle*)'
/usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:95: undefined reference to FlightSample::monitoredTakeoff(int)' /usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:96: undefined reference to FlightSample::monitoredLanding(int)'
/usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:101: undefined reference to FlightSample::monitoredTakeoff(int)' /usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:104: undefined reference to FlightSample::moveByPositionOffset(DJI::OSDK::Telemetry::Vector3f const&, float, float, float)'
/usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:106: undefined reference to FlightSample::moveByPositionOffset(DJI::OSDK::Telemetry::Vector3f const&, float, float, float)' /usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:108: undefined reference to FlightSample::moveByPositionOffset(DJI::OSDK::Telemetry::Vector3f const&, float, float, float)'
/usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:110: undefined reference to FlightSample::monitoredLanding(int)' /usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:118: undefined reference to FlightSample::monitoredTakeoff(int)'
/usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:123: undefined reference to FlightSample::moveByPositionOffset(DJI::OSDK::Telemetry::Vector3f const&, float, float, float)' /usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:126: undefined reference to FlightSample::moveByPositionOffset(DJI::OSDK::Telemetry::Vector3f const&, float, float, float)'
/usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:129: undefined reference to FlightSample::setNewHomeLocation(int)' /usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:132: undefined reference to FlightSample::setGoHomeAltitude(unsigned short, int)'
/usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:135: undefined reference to FlightSample::moveByPositionOffset(DJI::OSDK::Telemetry::Vector3f const&, float, float, float)' /usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:140: undefined reference to FlightSample::goHomeAndConfirmLanding(int)'
/usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:149: undefined reference to FlightSample::monitoredTakeoff(int)' /usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:152: undefined reference to FlightSample::velocityAndYawRateCtrl(DJI::OSDK::Telemetry::Vector3f const&, float, unsigned int)'
/usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:154: undefined reference to FlightSample::emergencyBrake()' /usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:156: undefined reference to FlightSample::velocityAndYawRateCtrl(DJI::OSDK::Telemetry::Vector3f const&, float, unsigned int)'
/usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:158: undefined reference to FlightSample::emergencyBrake()' /usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:160: undefined reference to FlightSample::velocityAndYawRateCtrl(DJI::OSDK::Telemetry::Vector3f const&, float, unsigned int)'
/usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:162: undefined reference to FlightSample::emergencyBrake()' /usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:164: undefined reference to FlightSample::velocityAndYawRateCtrl(DJI::OSDK::Telemetry::Vector3f const&, float, unsigned int)'
/usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:166: undefined reference to FlightSample::emergencyBrake()' /usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:169: undefined reference to FlightSample::monitoredLanding(int)'
/usr/bin/ld: /home/pi/Onboard-SDK/sample/platform/linux/flight-control/main.cpp:178: undefined reference to `FlightSample::~FlightSample()'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/djiosdk-flightcontrol-sample.dir/build.make:183: djiosdk-flightcontrol-sample] Error 1
make[1]: *** [CMakeFiles/Makefile2:76: CMakeFiles/djiosdk-flightcontrol-sample.dir/all] Error 2
make: *** [Makefile:84: all] Error 2

A bunch of undefined references to FlightSample.

@dji-dev dji-dev mentioned this issue Dec 6, 2021
Open
@highfreq
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highfreq commented Dec 9, 2021

Please help me in linking what is missing when compilint only flight-control.
Cmake works but when i compile i get the error : undefined reference to `FlightSample::FlightSample(DJI::OSDK::Vehicle*)'

Could you please let me know what to add to CMakeLists.txt to have it working?

Please DO NOT link me to a useless github or forum answer, i already went troygh all of them and didn't find an answer.

@dji-dev dji-dev mentioned this issue Dec 9, 2021
Closed
@MasterVols MasterVols mentioned this issue Feb 3, 2023
Open
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@dji-dev @highfreq @Hepan02