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标题:
OpenHarmony无人机MAVSDK开源库适配方案分享（二）
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作者:
陈美汝
时间:
2024-3-26 10:21
标题:
OpenHarmony无人机MAVSDK开源库适配方案分享（二）
[md]（接上篇）
### 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.make | cflags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",
"-Wformat=2",
"-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 -frtti
ldflags = [ "-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 = "MAVSDK"
subsystem_name = "mavsdk"
output_name = "libmavsdk"
}
ohos_executable("takeoff_and_land") {
use_exceptions = true
output_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 = "MAVSDK"
subsystem_name = "MAVSDK"
}
#演示编译部分
ohos_executable("offboard") {
use_exceptions = true
output_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 = "MAVSDK"
subsystem_name = "MAVSDK"
}
#编译测试文件
ohos_unittest("mavsdk_test") {
module_out_path = "MAVSDK/mavsdk_test"
testonly = true
use_exceptions = true
include_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-target=MAVSDK --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。
[/md]
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