Tools: support lldb debugging for sim_vehicle and autotest

Tools/autotest/autotest.py

@@ -378,6 +378,7 @@ def run_step(step):
         "use_map": opts.map,
         "valgrind": opts.valgrind,
         "gdb": opts.gdb,
+        "lldb": opts.lldb,
         "gdbserver": opts.gdbserver,
         "breakpoints": opts.breakpoint,
         "disable_breakpoints": opts.disable_breakpoints,
@@ -723,6 +724,10 @@ if __name__ == "__main__":
                          default=False,
                          action='store_true',
                          help='run ArduPilot binaries under gdbserver')
+    group_sim.add_option("--lldb",
+                         default=False,
+                         action='store_true',
+                         help='run ArduPilot binaries under lldb')
     group_sim.add_option("-B", "--breakpoint",
                          type='string',
                          action="append",

Tools/autotest/common.py

@@ -170,6 +170,7 @@ class AutoTest(ABC):
                  frame=None,
                  params=None,
                  gdbserver=False,
+                 lldb=False,
                  breakpoints=[],
                  disable_breakpoints=False,
                  viewerip=None,
@@ -179,6 +180,7 @@ class AutoTest(ABC):
         self.binary = binary
         self.valgrind = valgrind
         self.gdb = gdb
+        self.lldb = lldb
         self.frame = frame
         self.params = params
         self.gdbserver = gdbserver
@@ -2134,6 +2136,7 @@ class AutoTest(ABC):
                                     defaults_file=self.defaults_filepath(),
                                     gdb=self.gdb,
                                     gdbserver=self.gdbserver,
+                                    lldb=self.lldb,
                                     home=self.sitl_home(),
                                     model=self.frame,
                                     speedup=self.speedup,

Tools/autotest/pysim/util.py

@@ -227,7 +227,6 @@ def kill_screen_gdb():
     cmd = ["screen", "-X", "-S", "ardupilot-gdb", "quit"]
     subprocess.Popen(cmd)
 
-
 def start_SITL(binary,
                valgrind=False,
                gdb=False,
@@ -241,7 +240,8 @@ def start_SITL(binary,
                gdbserver=False,
                breakpoints=[],
                disable_breakpoints=False,
-               vicon=False):
+               vicon=False,
+               lldb=False):
     """Launch a SITL instance."""
     cmd = []
     if valgrind and os.path.exists('/usr/bin/valgrind'):
@@ -289,6 +289,19 @@ def start_SITL(binary,
                         '-m',
                         '-S', 'ardupilot-gdb',
                         'gdb', '-x', '/tmp/x.gdb', binary, '--args'])
+    elif lldb:
+        f = open("/tmp/x.lldb", "w")
+        for breakpoint in breakpoints:
+            f.write("b %s\n" % (breakpoint,))
+        if disable_breakpoints:
+            f.write("disable\n")
+        f.write("settings set target.process.stop-on-exec false\n")
+        f.write("process launch\n")
+        f.close()
+        if os.environ.get('DISPLAY'):
+            cmd.extend(['xterm', '-e', 'lldb', '-s','/tmp/x.lldb', '--'])
+        else:
+            raise RuntimeError("DISPLAY was not set")
 
     cmd.append(binary)
     if wipe:
@@ -328,7 +341,7 @@ def start_SITL(binary,
     pexpect_autoclose(child)
     # give time for parameters to properly setup
     time.sleep(3)
-    if gdb:
+    if gdb or lldb:
         # if we run GDB we do so in an xterm.  "Waiting for
         # connection" is never going to appear on xterm's output.
         # ... so let's give it another magic second.

Tools/autotest/sim_vehicle.py

@@ -567,6 +567,19 @@ def start_vehicle(binary, autotest, opts, stuff, loc=None):
         gdb_commands_file.close()
         cmd.extend(["-x", gdb_commands_file.name])
         cmd.append("--args")
+    elif opts.lldb or opts.lldb_stopped:
+        cmd_name += " (lldb)"
+        cmd.append("lldb")
+        lldb_commands_file = tempfile.NamedTemporaryFile(mode='w', delete=False)
+        atexit.register(os.unlink, lldb_commands_file.name)
+
+        for breakpoint in opts.breakpoint:
+            lldb_commands_file.write("b %s\n" % (breakpoint,))
+        if not opts.lldb_stopped:
+            lldb_commands_file.write("process launch\n")
+        lldb_commands_file.close()
+        cmd.extend(["-s", lldb_commands_file.name])
+        cmd.append("--")
     if opts.strace:
         cmd_name += " (strace)"
         cmd.append("strace")
@@ -842,6 +855,14 @@ group_sim.add_option("-g", "--gdb-stopped",
                      action='store_true',
                      default=False,
                      help="use gdb for debugging ardupilot (no auto-start)")
+group_sim.add_option("--lldb",
+                     action='store_true',
+                     default=False,
+                     help="use lldb for debugging ardupilot")
+group_sim.add_option("--lldb-stopped",
+                     action='store_true',
+                     default=False,
+                     help="use ldb for debugging ardupilot (no auto-start)")
 group_sim.add_option("-d", "--delay-start",
                      default=0,
                      type='float',
@@ -978,23 +999,27 @@ if cmd_opts.hil:
     if cmd_opts.callgrind:
         print("May not use callgrind with hil")
         sys.exit(1)
-    if cmd_opts.gdb or cmd_opts.gdb_stopped:
-        print("May not use gdb with hil")
+    if cmd_opts.gdb or cmd_opts.gdb_stopped or cmd_opts.lldb or cmd_opts.lldb_stopped:
+        print("May not use gdb or lldb with hil")
         sys.exit(1)
     if cmd_opts.strace:
         print("May not use strace with hil")
         sys.exit(1)
 
-if cmd_opts.valgrind and (cmd_opts.gdb or cmd_opts.gdb_stopped):
-    print("May not use valgrind with gdb")
+if cmd_opts.valgrind and (cmd_opts.gdb or cmd_opts.gdb_stopped or cmd_opts.lldb or cmd_opts.lldb_stopped):
+    print("May not use valgrind with gdb or lldb")
     sys.exit(1)
 
 if cmd_opts.valgrind and cmd_opts.callgrind:
     print("May not use valgrind with callgrind")
     sys.exit(1)
 
-if cmd_opts.strace and (cmd_opts.gdb or cmd_opts.gdb_stopped):
-    print("May not use strace with gdb")
+if cmd_opts.strace and (cmd_opts.gdb or cmd_opts.gdb_stopped or cmd_opts.lldb or cmd_opts.lldb_stopped):
+    print("May not use strace with gdb or lldb")
+    sys.exit(1)
+
+if (cmd_opts.gdb or cmd_opts.gdb_stopped) and (cmd_opts.lldb or cmd_opts.lldb_stopped):
+    print("May not use lldb with gdb")
     sys.exit(1)
 
 if cmd_opts.strace and cmd_opts.valgrind: