autotest: added option of autotest with gdb

Tools/autotest/pysim/util.py

@@ -105,12 +105,17 @@ def pexpect_drain(p):
     except pexpect.TIMEOUT:
         pass
 
-def start_SIL(atype, valgrind=False, wipe=False, synthetic_clock=True, home=None, model=None, speedup=1, defaults_file=None):
+def start_SIL(atype, valgrind=False, gdb=False, wipe=False, synthetic_clock=True, home=None, model=None, speedup=1, defaults_file=None):
     '''launch a SIL instance'''
     import pexpect
     cmd=""
     if valgrind and os.path.exists('/usr/bin/valgrind'):
         cmd += 'valgrind -q --log-file=%s-valgrind.log ' % atype
+    if gdb:
+        f = open("/tmp/x.gdb", "w")
+        f.write("r\n");
+        f.close()
+        cmd += 'xterm -e gdb -x /tmp/x.gdb --args '
     executable = reltopdir('tmp/%s.build/%s.elf' % (atype, atype))
     if not os.path.exists(executable):
         executable = '/tmp/%s.build/%s.elf' % (atype, atype)
@@ -131,7 +136,10 @@ def start_SIL(atype, valgrind=False, wipe=False, synthetic_clock=True, home=None
     ret = pexpect.spawn(cmd, logfile=sys.stdout, timeout=5)
     ret.delaybeforesend = 0
     pexpect_autoclose(ret)
-    ret.expect('Waiting for connection')
+    if gdb:
+        time.sleep(3)
+    else:
+        ret.expect('Waiting for connection',timeout=300)
     return ret
 
 def start_MAVProxy_SIL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:5760',