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* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
88 lines
3.1 KiB
Markdown
88 lines
3.1 KiB
Markdown
# 外部模块（Out-of-Tree）
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外部模块为开发人员提供了一种便捷的机制，可以管理/分组他们想要添加（或更新）PX4 固件的专有模块。
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外部模块可以使用与内部模块相同的includes，并可以通过uORB与内部模块交互。
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本主题说明如何将外部（“out of tree”）模块添加到 PX4 编译中。
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:::tip
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We encourage you to contribute your changes into PX4, where possible!
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:::
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## 用法
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要创建外部模块：
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- Create an _external directory_ folder for grouping the external modules:
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- This can be located anywhere outside of the **PX4-Autopilot** tree.
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- It must have the same structure as **PX4-Autopilot** (i.e. it must contain a directory called **src**).
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- Later we refer to this directory using `EXTERNAL_MODULES_LOCATION`.
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- Copy an existing module (e.g. **examples/px4_simple_app**) to the external directory, or directly create a new module.
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- Rename the module (including `MODULE` in **CMakeLists.txt**) or remove it from the existing PX4-Autopilot _cmake_ build config.
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这是为了避免与内部模块发生冲突。
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- Add a file **CMakeLists.txt** in the external directory with content:
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```cmake
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set(config_module_list_external
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modules/<new_module>
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PARENT_SCOPE
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)
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```
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- Add a line `EXTERNAL` to the `modules/<new_module>/CMakeLists.txt` within
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`px4_add_module()`, for example like this:
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```cmake
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px4_add_module(
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MODULE modules__test_app
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MAIN test_app
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STACK_MAIN 2000
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SRCS
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px4_simple_app.c
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DEPENDS
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platforms__common
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EXTERNAL
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)
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```
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## Out-of-Tree uORB 消息定义
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树外uORB消息将在与正常uORB消息相同的位置生成。 For this, the `$EXTERNAL_MODULES_LOCATION/msg` folder must exist.
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- Place all new message definitions within the `$EXTERNAL_MODULES_LOCATION/msg` directory.
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The format of these new out-of-tree message definitions are the same as for any other [uORB message definition](../middleware/uorb.md#adding-a-new-topic).
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- Add a file `$EXTERNAL_MODULES_LOCATION/msg/CMakeLists.txt` with content:
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```cmake
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set(config_msg_list_external
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<message1>.msg
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<message2>.msg
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<message3>.msg
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PARENT_SCOPE
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)
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```
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where `<message#>.msg` is the name of the uORB message definition file to be processed and used for uORB message generation.
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树外 uORB 消息将在与正常 uORB 消息相同的位置生成。
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The uORB topic headers are generated in `<build_dir>/uORB/topics/`, and the message source files are
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generated in `<build_dir>/msg/topics_sources/`.
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The new uORB messages can be used like any other uORB message as described [here](../middleware/uorb.md#adding-a-new-topic).
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:::warning
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The out-of-tree uORB message definitions cannot have the same name as any of the normal uORB messages.
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:::
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## 构建外部模块和 uORB 消息
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Execute `make px4_sitl EXTERNAL_MODULES_LOCATION=<path>`.
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任何其他构建目标都可以使用，但构建目录尚不存在。
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If it already exists, you can also just set the _cmake_ variable in the build folder.
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For subsequent incremental builds `EXTERNAL_MODULES_LOCATION` does not need to be specified.
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