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Tools: Adds GDBServer with screen option for debugging

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This commit is contained in:
Miguel Arroyo 2017-07-07 00:05:04 -04:00 committed by Peter Barker
parent db3c387916
commit 38297c4d19
6 changed files with 28 additions and 19 deletions
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8
Tools/autotest/arducopter.py
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@ -973,7 +973,7 @@ def setup_rc(mavproxy):
mavproxy.send('rc 3 1000\n') 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. """Fly ArduCopter in SITL.
you can pass viewerip as an IP address to optionally send fg and 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(mavproxy)
util.pexpect_close(sitl) 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' options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
if viewerip: if viewerip:
options += ' --out=%s:14550' % 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 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.""" """Fly ArduCopter in SITL for AVC2013 mission."""
global homeloc 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(mavproxy)
util.pexpect_close(sitl) 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' options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
if viewerip: if viewerip:
options += ' --out=%s:14550' % viewerip options += ' --out=%s:14550' % viewerip

4
Tools/autotest/arduplane.py
View File

@ -440,7 +440,7 @@ def fly_mission(mavproxy, mav, filename, height_accuracy=-1, target_altitude=Non
return True 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. """Fly ArduPlane in SITL.
you can pass viewerip as an IP address to optionally send fg and 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' options += ' --map'
sitl = util.start_SITL(binary, model='plane-elevrev', home=HOME_LOCATION, speedup=10, 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')) defaults_file=os.path.join(testdir, 'default_params/plane-jsbsim.parm'))
mavproxy = util.start_MAVProxy_SITL('ArduPlane', options=options) mavproxy = util.start_MAVProxy_SITL('ArduPlane', options=options)
mavproxy.expect('Telemetry log: (\S+)') mavproxy.expect('Telemetry log: (\S+)')

4
Tools/autotest/ardusub.py
View File

@ -92,7 +92,7 @@ def dive_mission(mavproxy, mav, filename):
print("Mission OK") print("Mission OK")
return True 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. """Dive ArduSub in SITL.
you can pass viewerip as an IP address to optionally send fg and 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(mavproxy)
util.pexpect_close(sitl) 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 = util.start_MAVProxy_SITL('ArduSub', options=options)
mavproxy.expect('Telemetry log: (\S+)') mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1) logfile = mavproxy.match.group(1)

15
Tools/autotest/autotest.py
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@ -223,22 +223,22 @@ def run_step(step):
return get_default_params(vehicle, binary) return get_default_params(vehicle, binary)
if step == 'fly.ArduCopter': 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': 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': 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': 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': 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': 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': if step == 'build.All':
return 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("--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("-j", default=None, type='int', help='build CPUs')
parser.add_option("--frame", type='string', default=None, help='specify frame type') 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() opts, args = parser.parse_args()

12
Tools/autotest/pysim/util.py
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@ -187,7 +187,9 @@ def valgrind_log_filepath(binary, model):
return make_safe_filename('%s-%s-valgrind.log' % (os.path.basename(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.""" """Launch a SITL instance."""
cmd = [] cmd = []
if valgrind and os.path.exists('/usr/bin/valgrind'): if valgrind and os.path.exists('/usr/bin/valgrind'):
@ -197,7 +199,13 @@ def start_SITL(binary, valgrind=False, gdb=False, wipe=False, synthetic_clock=Tr
f.write("r\n") f.write("r\n")
f.close() f.close()
cmd.extend(['xterm', '-e', 'gdb', '-x', '/tmp/x.gdb', '--args']) 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) cmd.append(binary)
if wipe: if wipe:
cmd.append('-w') cmd.append('-w')

4
Tools/autotest/quadplane.py
View File

@ -44,7 +44,7 @@ def fly_mission(mavproxy, mav, filename, fence, height_accuracy=-1):
return True 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. """Fly QuadPlane in SITL.
you can pass viewerip as an IP address to optionally send fg and 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' options += ' --map'
sitl = util.start_SITL(binary, model='quadplane', wipe=True, home=HOME_LOCATION, speedup=10, 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 = util.start_MAVProxy_SITL('QuadPlane', options=options)
mavproxy.expect('Telemetry log: (\S+)') mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1) logfile = mavproxy.match.group(1)