# libcanard

**Repository Path**: qjcyj/libcanard

## Basic Information

- **Project Name**: libcanard
- **Description**: 基于官方的libcanard 1.0.0版本，集成了dsdl库和dsdl编译脚本
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-07-02
- **Last Updated**: 2025-07-02

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# libcanard

## 1、libcanard依赖

需安装3个python依赖包

1）empy

​	pip install empy==3.3.4

2）dronecan

​	pip install dronecan

3）pexpect

​	pip install pexpect

## 2、dsdl编译测试

使用python指令编译dsdl文件，成功后可在libcanard目录下生成一个dsdlc_generated 文件夹，文件夹内分有include和src，分别存有生成的源文件及头文件

python dronecan_dsdlc/dronecan_dsdlc.py -O dsdlc_generated uavcan

## 3、makefile文件集成关联编译

在

```
# 定义 DSDL 目标
DSDL_DIR := libcanard/dsdlc_generated
DSDL_SOURCE_DIR := libcanard/uavcan
DSDL_GENERATOR := libcanard/dronecan_dsdlc/dronecan_dsdlc.py

# 主构建目标添加 dsdl 依赖
all: dsdl $(TARGET)

# DSDL 生成规则 (跨平台版本)
dsdl: $(DSDL_DIR)/.generated

$(DSDL_DIR)/.generated: $(wildcard $(DSDL_SOURCE_DIR)/*/*.uavcan)
	@echo "Generating DSDL headers..."
	@python $(DSDL_GENERATOR) -O $(DSDL_DIR) $(DSDL_SOURCE_DIR)
	@touch $@

# 添加DSDL生成目录到头文件搜索路径
CFLAGS += -I$(DSDL_DIR)


# 清理目标
clean:
	rm -rf build   $(DSDL_DIR)

.PHONY: dsdl clean
```