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Tools: support lldb debugging for sim_vehicle and autotest

This commit is contained in:
Andy Piper 2019-09-24 18:44:02 +01:00 committed by Andrew Tridgell
parent 9d67a9423f
commit 30c86eb768
4 changed files with 55 additions and 9 deletions
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5
Tools/autotest/autotest.py
View File

@ -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",

3
Tools/autotest/common.py
View File

@ -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,

19
Tools/autotest/pysim/util.py
View File

@ -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.

37
Tools/autotest/sim_vehicle.py
View File

@ -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: