Tools: Adds GDBServer with screen option for debugging

Tools/autotest/arducopter.py

@@ -973,7 +973,7 @@ def setup_rc(mavproxy):
     mavproxy.send('rc 3 1000\n')
 
 
-def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None):
+def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None, gdbserver=False):
     """Fly ArduCopter in SITL.
 
     you can pass viewerip as an IP address to optionally send fg and
@@ -1005,7 +1005,7 @@ def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fal
     util.pexpect_close(mavproxy)
     util.pexpect_close(sitl)
 
-    sitl = util.start_SITL(binary, model=frame, home=home, speedup=speedup_default, valgrind=valgrind, gdb=gdb)
+    sitl = util.start_SITL(binary, model=frame, home=home, speedup=speedup_default, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
     options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
     if viewerip:
         options += ' --out=%s:14550' % viewerip
@@ -1330,7 +1330,7 @@ def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fal
     return True
 
 
-def fly_CopterAVC(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None):
+def fly_CopterAVC(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None, gdbserver=False):
     """Fly ArduCopter in SITL for AVC2013 mission."""
     global homeloc
 
@@ -1358,7 +1358,7 @@ def fly_CopterAVC(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fals
     util.pexpect_close(mavproxy)
     util.pexpect_close(sitl)
 
-    sitl = util.start_SITL(binary, model='heli', home=home, speedup=speedup_default, valgrind=valgrind, gdb=gdb)
+    sitl = util.start_SITL(binary, model='heli', home=home, speedup=speedup_default, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
     options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
     if viewerip:
         options += ' --out=%s:14550' % viewerip

Tools/autotest/arduplane.py

@@ -440,7 +440,7 @@ def fly_mission(mavproxy, mav, filename, height_accuracy=-1, target_altitude=Non
     return True
 
 
-def fly_ArduPlane(binary, viewerip=None, use_map=False, valgrind=False, gdb=False):
+def fly_ArduPlane(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, gdbserver=False):
     """Fly ArduPlane in SITL.
 
     you can pass viewerip as an IP address to optionally send fg and
@@ -455,7 +455,7 @@ def fly_ArduPlane(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fals
         options += ' --map'
 
     sitl = util.start_SITL(binary, model='plane-elevrev', home=HOME_LOCATION, speedup=10,
-                          valgrind=valgrind, gdb=gdb,
+                          valgrind=valgrind, gdb=gdb, gdbserver=gdbserver,
                           defaults_file=os.path.join(testdir, 'default_params/plane-jsbsim.parm'))
     mavproxy = util.start_MAVProxy_SITL('ArduPlane', options=options)
     mavproxy.expect('Telemetry log: (\S+)')

Tools/autotest/ardusub.py

@@ -92,7 +92,7 @@ def dive_mission(mavproxy, mav, filename):
     print("Mission OK")
     return True
 
-def dive_ArduSub(binary, viewerip=None, use_map=False, valgrind=False, gdb=False):
+def dive_ArduSub(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, gdbserver=False):
     """Dive ArduSub in SITL.
 
     you can pass viewerip as an IP address to optionally send fg and
@@ -121,7 +121,7 @@ def dive_ArduSub(binary, viewerip=None, use_map=False, valgrind=False, gdb=False
     util.pexpect_close(mavproxy)
     util.pexpect_close(sitl)
 
-    sitl = util.start_SITL(binary, model='vectored', home=home, speedup=10, valgrind=valgrind, gdb=gdb)
+    sitl = util.start_SITL(binary, model='vectored', home=home, speedup=10, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
     mavproxy = util.start_MAVProxy_SITL('ArduSub', options=options)
     mavproxy.expect('Telemetry log: (\S+)')
     logfile = mavproxy.match.group(1)

Tools/autotest/autotest.py

@@ -223,22 +223,22 @@ def run_step(step):
         return get_default_params(vehicle, binary)
 
     if step == 'fly.ArduCopter':
-        return arducopter.fly_ArduCopter(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, frame=opts.frame)
+        return arducopter.fly_ArduCopter(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, frame=opts.frame, gdbserver=opts.gdbserver)
 
     if step == 'fly.CopterAVC':
-        return arducopter.fly_CopterAVC(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, frame=opts.frame)
+        return arducopter.fly_CopterAVC(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, frame=opts.frame, gdbserver=opts.gdbserver)
 
     if step == 'fly.ArduPlane':
-        return arduplane.fly_ArduPlane(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
+        return arduplane.fly_ArduPlane(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, gdbserver=opts.gdbserver)
 
     if step == 'fly.QuadPlane':
-        return quadplane.fly_QuadPlane(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
+        return quadplane.fly_QuadPlane(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, gdbserver=opts.gdbserver)
 
     if step == 'drive.APMrover2':
-        return apmrover2.drive_APMrover2(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, frame=opts.frame)
+        return apmrover2.drive_APMrover2(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, frame=opts.frame, gdbserver=opts.gdbserver)
 
     if step == 'dive.ArduSub':
-        return ardusub.dive_ArduSub(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
+        return ardusub.dive_ArduSub(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, gdbserver=opts.gdbserver)
 
     if step == 'build.All':
         return build_all()
@@ -449,6 +449,7 @@ if __name__ == "__main__":
     parser.add_option("--debug", default=False, action='store_true', help='make built binaries debug binaries')
     parser.add_option("-j", default=None, type='int', help='build CPUs')
     parser.add_option("--frame", type='string', default=None, help='specify frame type')
+    parser.add_option("--gdbserver", default=False, action='store_true', help='run ArduPilot binaries under gdbserver')
 
     opts, args = parser.parse_args()
 

Tools/autotest/pysim/util.py

@@ -187,7 +187,9 @@ def valgrind_log_filepath(binary, model):
     return make_safe_filename('%s-%s-valgrind.log' % (os.path.basename(binary), model,))
 
 
-def start_SITL(binary, valgrind=False, gdb=False, wipe=False, synthetic_clock=True, home=None, model=None, speedup=1, defaults_file=None, unhide_parameters=False):
+def start_SITL(binary, valgrind=False, gdb=False, wipe=False,
+    synthetic_clock=True, home=None, model=None, speedup=1, defaults_file=None,
+               unhide_parameters=False, gdbserver=False):
     """Launch a SITL instance."""
     cmd = []
     if valgrind and os.path.exists('/usr/bin/valgrind'):
@@ -197,6 +199,12 @@ def start_SITL(binary, valgrind=False, gdb=False, wipe=False, synthetic_clock=Tr
         f.write("r\n")
         f.close()
         cmd.extend(['xterm', '-e', 'gdb', '-x', '/tmp/x.gdb', '--args'])
+    if gdbserver:
+        f = open("/tmp/x.gdb", "w")
+        f.write("target extended-remote localhost:3333\nc\n")
+        f.close()
+        cmd.extend(['gdbserver', 'localhost:3333'])
+        run_cmd('screen -d -m -S ardupilot-gdb bash -c "gdb -x /tmp/x.gdb"')
 
     cmd.append(binary)
     if wipe:

Tools/autotest/quadplane.py

@@ -44,7 +44,7 @@ def fly_mission(mavproxy, mav, filename, fence, height_accuracy=-1):
     return True
 
 
-def fly_QuadPlane(binary, viewerip=None, use_map=False, valgrind=False, gdb=False):
+def fly_QuadPlane(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, gdbserver=False):
     """Fly QuadPlane in SITL.
 
     you can pass viewerip as an IP address to optionally send fg and
@@ -59,7 +59,7 @@ def fly_QuadPlane(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fals
         options += ' --map'
 
     sitl = util.start_SITL(binary, model='quadplane', wipe=True, home=HOME_LOCATION, speedup=10,
-                          defaults_file=os.path.join(testdir, 'default_params/quadplane.parm'), valgrind=valgrind, gdb=gdb)
+                          defaults_file=os.path.join(testdir, 'default_params/quadplane.parm'), valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
     mavproxy = util.start_MAVProxy_SITL('QuadPlane', options=options)
     mavproxy.expect('Telemetry log: (\S+)')
     logfile = mavproxy.match.group(1)