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vscode updates and improvements

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- fix gazebo SITL debug
     - now prompts you to select vehicle
 - devcontainer.json container support https://code.visualstudio.com/docs/remote/containers
     - this allows you to jump straight into working within a container (px4-dev-nuttx) on a fresh machine
     - also helps with Codespaces https://github.com/features/codespaces
 - plugin updates
    - cpp extension pack, spell checking, CTest support
 - cleanup intellisense
     - the backup tag parser was a resource hog and didn't work very well
 - fix problemMatcher support so that you can click on a build failure
This commit is contained in:
Daniel Agar
2020-09-16 09:07:54 -04:00
committed by GitHub
parent 504730386a
commit 2b18b05a8a
10 changed files with 292 additions and 564 deletions
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240
platforms/posix/Debug/launch_sim.json.in
View File

@@ -2,223 +2,25 @@
"version": "0.2.0",
"configurations": [
{
"name": "SITL (gazebo iris)",
"name": "SITL (gazebo)",
"type": "cppdbg",
"request": "launch",
"program": "${command:cmake.launchTargetPath}",
"args": [
"${workspaceFolder}/ROMFS/px4fmu_common",
"-s",
"etc/init.d-posix/rcS",
"-t",
"${workspaceFolder}/test_data"
"-s", "etc/init.d-posix/rcS",
"-t", "${workspaceFolder}/test_data"
],
"stopAtEntry": false,
"cwd": "${command:cmake.buildDirectory}/tmp",
"environment": [
{
"name": "PX4_SIM_MODEL",
"value": "iris"
"value": "${input:PX4_SIM_MODEL}"
}
],
"externalConsole": false,
"preLaunchTask": "gazebo iris",
"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 (gazebo plane)",
"type": "cppdbg",
"request": "launch",
"program": "${command:cmake.launchTargetPath}",
"args": [
"${workspaceFolder}/ROMFS/px4fmu_common",
"-s",
"etc/init.d-posix/rcS",
"-t",
"${workspaceFolder}/test_data"
],
"stopAtEntry": false,
"cwd": "${command:cmake.buildDirectory}/tmp",
"environment": [
{
"name": "PX4_SIM_MODEL",
"value": "plane"
}
],
"externalConsole": false,
"preLaunchTask": "gazebo plane",
"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 (gazebo standard_vtol)",
"type": "cppdbg",
"request": "launch",
"program": "${command:cmake.launchTargetPath}",
"args": [
"${workspaceFolder}/ROMFS/px4fmu_common",
"-s",
"etc/init.d-posix/rcS",
"-t",
"${workspaceFolder}/test_data"
],
"stopAtEntry": false,
"cwd": "${command:cmake.buildDirectory}/tmp",
"environment": [
{
"name": "PX4_SIM_MODEL",
"value": "standard_vtol"
}
],
"externalConsole": false,
"preLaunchTask": "gazebo standard_vtol",
"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 (gazebo tailsitter)",
"type": "cppdbg",
"request": "launch",
"program": "${command:cmake.launchTargetPath}",
"args": [
"${workspaceFolder}/ROMFS/px4fmu_common",
"-s",
"etc/init.d-posix/rcS",
"-t",
"${workspaceFolder}/test_data"
],
"stopAtEntry": false,
"cwd": "${command:cmake.buildDirectory}/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 (gazebo tiltrotor)",
"type": "cppdbg",
"request": "launch",
"program": "${command:cmake.launchTargetPath}",
"args": [
"${workspaceFolder}/ROMFS/px4fmu_common",
"-s",
"etc/init.d-posix/rcS",
"-t",
"${workspaceFolder}/test_data"
],
"stopAtEntry": false,
"cwd": "${command:cmake.buildDirectory}/tmp",
"environment": [
{
"name": "PX4_SIM_MODEL",
"value": "tiltrotor"
}
],
"externalConsole": false,
"preLaunchTask": "gazebo tiltrotor",
"preLaunchTask": "gazebo",
"postDebugTask": "gazebo kill",
"linux": {
"MIMode": "gdb",
@@ -253,10 +55,8 @@
"program": "${command:cmake.launchTargetPath}",
"args": [
"${workspaceFolder}/ROMFS/px4fmu_common",
"-s",
"etc/init.d-posix/rcS",
"-t",
"${workspaceFolder}/test_data"
"-s", "etc/init.d-posix/rcS",
"-t", "${workspaceFolder}/test_data"
],
"stopAtEntry": false,
"cwd": "${command:cmake.buildDirectory}/tmp",
@@ -301,10 +101,8 @@
"program": "${command:cmake.launchTargetPath}",
"args": [
"${workspaceFolder}/ROMFS/px4fmu_common",
"-s",
"etc/init.d-posix/rcS",
"-t",
"${workspaceFolder}/test_data"
"-s", "etc/init.d-posix/rcS",
"-t", "${workspaceFolder}/test_data"
],
"stopAtEntry": false,
"cwd": "${command:cmake.buildDirectory}/tmp",
@@ -340,5 +138,25 @@
]
}
}
],
"inputs": [
{
"type": "pickString",
"id": "PX4_SIM_MODEL",
"description": "PX4_SIM_MODEL",
"options": [
"iris",
"typhoon_h480",
"plane",
"plane_catapult",
"plane_lidar",
"standard_vtol",
"tailsitter",
"tiltrotor",
"r1_rover",
"boat"
],
"default": "iris"
}
]
}

47
platforms/posix/cmake/sitl_target.cmake
View File

@@ -104,18 +104,18 @@ foreach(viewer ${viewers})
endif()
add_custom_target(${_targ_name}
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
${debugger}
${viewer}
${model}
${world}
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS
logs_symlink
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
${debugger}
${viewer}
${model}
${world}
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS
logs_symlink
)
list(APPEND all_posix_vmd_make_targets ${_targ_name})
if (viewer STREQUAL "gazebo")
@@ -140,18 +140,17 @@ foreach(viewer ${viewers})
endif()
add_custom_target(${_targ_name}
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
${debugger}
${viewer}
${model}
${world}
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS
logs_symlink
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
${debugger}
${viewer}
${model}
${world}
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS logs_symlink
)
list(APPEND all_posix_vmd_make_targets ${_targ_name})
add_dependencies(${_targ_name} px4 sitl_gazebo)

74
platforms/posix/cmake/sitl_tests.cmake
View File

@@ -57,15 +57,12 @@ foreach(test_name ${tests})
configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated)
add_test(NAME ${test_name_prefix}
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
none
none
test_${test_name}_generated
none
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR})
COMMAND $<TARGET_FILE:px4>
-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated
-t ${PX4_SOURCE_DIR}/test_data
${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
WORKING_DIRECTORY ${SITL_WORKING_DIR}
)
set_tests_properties(${test_name_prefix} PROPERTIES FAIL_REGULAR_EXPRESSION "${test_name} FAILED")
set_tests_properties(${test_name_prefix} PROPERTIES PASS_REGULAR_EXPRESSION "${test_name} PASSED")
@@ -75,38 +72,32 @@ endforeach()
# Mavlink test requires mavlink running
add_test(NAME mavlink
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
none
none
test_mavlink
none
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR})
add_test(NAME sitl-mavlink
COMMAND $<TARGET_FILE:px4>
-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_mavlink
-t ${PX4_SOURCE_DIR}/test_data
${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
WORKING_DIRECTORY ${SITL_WORKING_DIR}
)
set_tests_properties(mavlink PROPERTIES FAIL_REGULAR_EXPRESSION "mavlink FAILED")
set_tests_properties(mavlink PROPERTIES PASS_REGULAR_EXPRESSION "mavlink PASSED")
sanitizer_fail_test_on_error(mavlink)
set_tests_properties(sitl-mavlink PROPERTIES FAIL_REGULAR_EXPRESSION "mavlink FAILED")
set_tests_properties(sitl-mavlink PROPERTIES PASS_REGULAR_EXPRESSION "mavlink PASSED")
sanitizer_fail_test_on_error(sitl-mavlink)
# A mystery why this fails on Cygwin currently.
if(NOT CMAKE_SYSTEM_NAME STREQUAL "CYGWIN")
# Shutdown test
add_test(NAME shutdown
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
none
none
test_shutdown
none
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR})
add_test(NAME sitl-shutdown
COMMAND $<TARGET_FILE:px4>
-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_shutdown
-t ${PX4_SOURCE_DIR}/test_data
${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
WORKING_DIRECTORY ${SITL_WORKING_DIR}
)
#set_tests_properties(shutdown PROPERTIES FAIL_REGULAR_EXPRESSION "shutdown FAILED")
set_tests_properties(shutdown PROPERTIES PASS_REGULAR_EXPRESSION "Exiting NOW.")
sanitizer_fail_test_on_error(shutdown)
set_tests_properties(sitl-shutdown PROPERTIES PASS_REGULAR_EXPRESSION "Exiting NOW.")
sanitizer_fail_test_on_error(sitl-shutdown)
endif()
# Dynamic module loading test
@@ -135,15 +126,12 @@ foreach(cmd_name ${test_cmds})
configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_${cmd_name}_generated)
add_test(NAME posix_${cmd_name}
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
none
none
cmd_${cmd_name}_generated
none
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR})
COMMAND $<TARGET_FILE:px4>
${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_${cmd_name}_generated
-t ${PX4_SOURCE_DIR}/test_data
WORKING_DIRECTORY ${SITL_WORKING_DIR}
)
sanitizer_fail_test_on_error(posix_${cmd_name})
set_tests_properties(posix_${cmd_name} PROPERTIES PASS_REGULAR_EXPRESSION "Exiting NOW.")