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VSCode SITL debug improvements 

- added gazebo VTOL tailsitter debug target
 - improved jmavsim debug target and helper tasks to work properly (build and launch directly instead of through the jmavsim_run.sh script)
 - improved output console handling for helper tasks (eg gazebo and jmavsim build and run, followed by cleanup after debug)
 - added miniterm.py as a task
sbg
Daniel Agar 5 years ago committed by GitHub
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2 changed files with 228 additions and 21 deletions
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  1. 200
      .vscode/tasks.json
  2. 49
      platforms/posix/Debug/launch.json.in

200
.vscode/tasks.json vendored
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@ -3,25 +3,42 @@ @@ -3,25 +3,42 @@
// for the documentation about the tasks.json format
"version": "2.0.0",
"tasks": [
{
"label": "jmavsim build",
"type": "shell",
"command": "ant create_run_jar copy_res",
"options": {
"cwd": "${workspaceRoot}/Tools/jMAVSim"
},
"problemMatcher": [],
"presentation":{
"echo": true,
"reveal": "never",
"focus": false,
"panel": "shared",
"showReuseMessage": false,
"clear": true
}
},
{
"label": "jmavsim",
"type": "shell",
"command": "Tools/jmavsim_run.sh",
"isBackground": true,
"args": [
"-r",
"250",
"-l"
],
"dependsOn": "jmavsim build",
"command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
"options": {
"cwd": "${workspaceRoot}",
"cwd": "${workspaceRoot}/Tools/jMAVSim/out/production",
"env": {
"PX4_SIM_SPEED_FACTOR": "1"
}
},
"isBackground": true,
"presentation": {
"reveal": "always",
"panel": "dedicated"
"echo": true,
"reveal": "never",
"focus": false,
"panel": "shared",
"showReuseMessage": false,
"clear": true
},
"problemMatcher": [
{
@ -45,6 +62,14 @@ @@ -45,6 +62,14 @@
"label": "jmavsim kill",
"type": "shell",
"command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
"presentation": {
"echo": false,
"reveal": "never",
"focus": false,
"panel": "shared",
"showReuseMessage": false,
"clear": true
},
"problemMatcher": []
},
{
@ -54,7 +79,15 @@ @@ -54,7 +79,15 @@
"options": {
"cwd": "${workspaceRoot}"
},
"problemMatcher": []
"problemMatcher": [],
"presentation":{
"echo": true,
"reveal": "never",
"focus": false,
"panel": "shared",
"showReuseMessage": false,
"clear": true
}
},
{
"label": "gazebo iris",
@ -68,11 +101,15 @@ @@ -68,11 +101,15 @@
"PX4_SIM_SPEED_FACTOR": "1"
}
},
"command": "gzserver ${workspaceRoot}/Tools/sitl_gazebo/worlds/iris.world & gzclient",
"command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/iris.world",
"isBackground": true,
"presentation": {
"reveal": "always",
"panel": "dedicated"
"echo": true,
"reveal": "never",
"focus": false,
"panel": "shared",
"showReuseMessage": false,
"clear": true
},
"problemMatcher": [
{
@ -104,11 +141,15 @@ @@ -104,11 +141,15 @@
"PX4_SIM_SPEED_FACTOR": "1"
}
},
"command": "gzserver ${workspaceRoot}/Tools/sitl_gazebo/worlds/plane.world & gzclient",
"command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/plane.world",
"isBackground": true,
"presentation": {
"reveal": "always",
"panel": "dedicated"
"echo": true,
"reveal": "never",
"focus": false,
"panel": "shared",
"showReuseMessage": false,
"clear": true
},
"problemMatcher": [
{
@ -140,11 +181,95 @@ @@ -140,11 +181,95 @@
"PX4_SIM_SPEED_FACTOR": "1"
}
},
"command": "gzserver ${workspaceRoot}/Tools/sitl_gazebo/worlds/standard_vtol.world & gzclient",
"command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/standard_vtol.world",
"isBackground": true,
"presentation": {
"reveal": "always",
"panel": "dedicated"
"echo": true,
"reveal": "never",
"focus": false,
"panel": "shared",
"showReuseMessage": false,
"clear": true
},
"problemMatcher": [
{
"pattern": [
{
"regexp": ".",
"file": 1,
"location": 2,
"message": 3
}
],
"background": {
"activeOnStart": true,
"beginsPattern": ".",
"endsPattern": ".",
}
}
]
},
{
"label": "gazebo tailsitter",
"type": "shell",
"dependsOn": "gazebo build",
"options": {
"cwd": "${workspaceRoot}",
"env": {
"GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
"GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
"PX4_SIM_SPEED_FACTOR": "1"
}
},
"command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/tailsitter.world",
"isBackground": true,
"presentation": {
"echo": true,
"reveal": "never",
"focus": false,
"panel": "shared",
"showReuseMessage": false,
"clear": true
},
"problemMatcher": [
{
"pattern": [
{
"regexp": ".",
"file": 1,
"location": 2,
"message": 3
}
],
"background": {
"activeOnStart": true,
"beginsPattern": ".",
"endsPattern": ".",
}
}
]
},
{
"label": "gazebo client",
"type": "shell",
"dependsOn": "gazebo build",
"options": {
"cwd": "${workspaceRoot}",
"env": {
"GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
"GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
"PX4_SIM_SPEED_FACTOR": "1"
}
},
"command": "gzclient --verbose",
"isBackground": true,
"presentation": {
"echo": true,
"reveal": "never",
"focus": false,
"panel": "shared",
"showReuseMessage": false,
"clear": true
},
"problemMatcher": [
{
@ -167,7 +292,15 @@ @@ -167,7 +292,15 @@
{
"label": "gazebo kill",
"type": "shell",
"command": "killall gzserver; killall gzclient",
"command": "killall gzserver",
"presentation": {
"echo": false,
"reveal": "never",
"focus": false,
"panel": "shared",
"showReuseMessage": false,
"clear": true
},
"problemMatcher": []
},
{
@ -177,6 +310,31 @@ @@ -177,6 +310,31 @@
"options": {
"cwd": "${workspaceRoot}"
},
"presentation": {
"echo": true,
"reveal": "always",
"focus": true,
"panel": "new",
"showReuseMessage": false,
"clear": false
},
"problemMatcher": []
},
{
"label": "miniterm.py",
"type": "shell",
"command": "miniterm.py --raw - 57600",
"options": {
"cwd": "${workspaceRoot}"
},
"presentation": {
"echo": true,
"reveal": "always",
"focus": true,
"panel": "new",
"showReuseMessage": false,
"clear": false
},
"problemMatcher": []
}
]

49
platforms/posix/Debug/launch.json.in
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@ -148,6 +148,55 @@ @@ -148,6 +148,55 @@
]
}
},
{
"name": "SITL (gazebo tailsitter)",
"type": "cppdbg",
"request": "launch",
"program": "${command:cmake.launchTargetPath}",
"args": [
"${workspaceFolder}/ROMFS/px4fmu_common",
"-s",
"etc/init.d-posix/rcS",
"-t",
"${workspaceFolder}/test_data"
],
"stopAtEntry": false,
"cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
"environment": [
{
"name": "PX4_SIM_MODEL",
"value": "tailsitter"
}
],
"externalConsole": false,
"preLaunchTask": "gazebo tailsitter",
"postDebugTask": "gazebo kill",
"linux": {
"MIMode": "gdb",
"externalConsole": false,
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true
},
{
"description": "PX4 ignore wq signals",
"text": "handle SIGCONT nostop noprint nopass",
"ignoreFailures": true
}
]
},
"osx": {
"MIMode": "lldb",
"externalConsole": true,
"setupCommands": [
{
"text": "pro hand -p true -s false -n false SIGCONT",
}
]
}
},
{
"name": "SITL (jmavsim iris)",
"type": "cppdbg",

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