mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-03-12 01:23:56 -03:00
Waf:add --vs-launch
This commit is contained in:
Huibean
Andrew Tridgell
parent
5813cc52e1
commit
57e98e2b16
49
.vscode/launch.default.json
vendored
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49
.vscode/launch.default.json
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@ -0,0 +1,49 @@
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{
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"version": "0.2.0",
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"configurations": [
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{
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"name": "AP_ST",
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"cwd": "${workspaceFolder}",
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"executable": "${config:wscript.elf_file_path}",
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"liveWatch": {
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"enabled": true,
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"samplesPerSecond": 4
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},
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"request": "launch",
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"type": "cortex-debug",
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"servertype": "openocd",
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"configFiles": [
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"${workspaceFolder}/build/${config:wscript.board}/openocd.cfg"
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]
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},
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{
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"name": "AP_SITL",
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"type": "cppdbg",
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"request": "launch",
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"program": "${config:wscript.elf_file_path}",
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"args": [
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"-S",
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"--model",
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"+",
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"--speedup",
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"1",
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"--slave",
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"0",
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"--sim-address=127.0.0.1",
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"-IO"
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],
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"stopAtEntry": false,
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"cwd": "${workspaceFolder}",
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"environment": [],
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"externalConsole": false,
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"MIMode": "${config:wscript.MIMode}",
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"setupCommands": [
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{
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"description": "Enable pretty-printing for gdb",
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"text": "-enable-pretty-printing",
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"ignoreFailures": false
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}
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]
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}
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]
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}
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105
Tools/ardupilotwaf/vscode_helper.py
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105
Tools/ardupilotwaf/vscode_helper.py
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@ -0,0 +1,105 @@
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import os
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import json
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import shutil
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H7_DUAL_BANK_LIST = [
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"STM32H7A3xx",
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"STM32H7A3xxq",
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"STM32H7B3xx",
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"STM32H7B3xxq",
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"STM32H742xx",
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"STM32H743xx",
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"STM32H745xg",
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"STM32H745xx",
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"STM32H747xg",
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"STM32H747xx",
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"STM32H753xx",
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"STM32H755xx",
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"STM32H755xx",
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"STM32H757xx",
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] # List of H7 boards with dual bank
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ELF_NAME_MAPPING = {
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'copter': 'arducopter',
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'plane': 'arduplane',
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'rover': 'ardurover',
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'sub': 'ardusub',
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'blimp': 'blimp',
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'antennatracker': 'antennatracker',
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'bootloader': 'AP_Bootloader',
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'AP_Periph': 'AP_Periph',
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}
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def update_settings(bld):
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if not bld.cmd in ELF_NAME_MAPPING:
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return
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board_name = bld.env.BOARD
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elf_file_name = ELF_NAME_MAPPING.get(bld.cmd, bld.cmd)
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if elf_file_name == 'ap_bootloader':
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elf_file_path = os.path.join("${workspaceFolder}", "build", board_name, "bootloader", elf_file_name)
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else:
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elf_file_path = os.path.join("${workspaceFolder}", "build", board_name, "bin", elf_file_name)
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vscode_setting_json_path = os.path.join(bld.srcnode.abspath(), '.vscode', 'settings.json')
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if not os.path.exists(vscode_setting_json_path):
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with open(vscode_setting_json_path, 'w') as f:
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json.dump({}, f, indent=4)
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try:
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with open(vscode_setting_json_path, 'r') as f:
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content = f.read().strip()
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if content:
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settings_json = json.loads(content)
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else:
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settings_json = {}
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except json.JSONDecodeError:
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print(f"VS-LAUNCH: \033[91m Error: invalid JSON in .vscode/settings.json, please fix it and try again.\033[0m")
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return
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settings_json['wscript.elf_file_path'] = elf_file_path
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settings_json['wscript.board'] = board_name
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if board_name == 'sitl':
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if os.uname().sysname == 'Darwin':
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settings_json['wscript.MIMode'] = "lldb"
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else:
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settings_json['wscript.MIMode'] = "gdb"
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with open(vscode_setting_json_path, 'w') as f:
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json.dump(settings_json, f, indent=4)
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def update_openocd_cfg(cfg):
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if cfg.options.board != 'sitl':
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openocd_cfg_path = os.path.join(cfg.srcnode.abspath(), 'build', cfg.options.board, 'openocd.cfg')
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mcu_type = cfg.env.get_flat('APJ_BOARD_TYPE')
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openocd_target = ''
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if mcu_type.startswith("STM32H7"):
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if mcu_type in H7_DUAL_BANK_LIST:
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openocd_target = 'stm32h7_dual_bank.cfg'
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else:
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openocd_target = 'stm32h7x.cfg'
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elif mcu_type.startswith("STM32F7"):
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openocd_target = 'stm32f7x.cfg'
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elif mcu_type.startswith("STM32F4"):
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openocd_target = 'stm32f4x.cfg'
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elif mcu_type.startswith("STM32F3"):
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openocd_target = 'stm32f3x.cfg'
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elif mcu_type.startswith("STM32L4"):
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openocd_target = 'stm32l4x.cfg'
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elif mcu_type.startswith("STM32G4"):
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openocd_target = 'stm32g4x.cfg'
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if openocd_target:
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with open(openocd_cfg_path, 'w+') as f:
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f.write("source [find interface/stlink.cfg]\n")
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f.write(f"source [find target/{openocd_target}]\n")
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f.write("init\n")
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f.write("$_TARGETNAME configure -rtos auto\n")
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def init_launch_json_if_not_exist(cfg):
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launch_json_path = os.path.join(cfg.srcnode.abspath(), '.vscode', 'launch.json')
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launch_default_json_path = os.path.join(cfg.srcnode.abspath(),'.vscode', 'launch.default.json')
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if not os.path.exists(launch_json_path):
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if os.path.exists(launch_default_json_path):
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print(f"Copying {launch_default_json_path} to {launch_json_path}")
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shutil.copy(launch_default_json_path, launch_json_path)
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22
wscript
22
wscript
@ -156,6 +156,11 @@ def options(opt):
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default=False,
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help='Add debug symbolds to build.')
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g.add_option('--vs-launch',
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action='store_true',
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default=False,
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help='Generate wscript environment variable to .vscode/setting.json for Visual Studio Code')
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g.add_option('--disable-watchdog',
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action='store_true',
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default=False,
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@ -507,6 +512,7 @@ def configure(cfg):
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cfg.env.BOARD = cfg.options.board
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cfg.env.DEBUG = cfg.options.debug
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cfg.env.VS_LAUNCH = cfg.options.vs_launch
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cfg.env.DEBUG_SYMBOLS = cfg.options.debug_symbols
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cfg.env.COVERAGE = cfg.options.coverage
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cfg.env.FORCE32BIT = cfg.options.force_32bit
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@ -622,6 +628,13 @@ def configure(cfg):
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else:
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cfg.end_msg('disabled', color='YELLOW')
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if cfg.env.DEBUG:
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cfg.start_msg('VS Code launch')
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if cfg.env.VS_LAUNCH:
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cfg.end_msg('enabled')
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else:
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cfg.end_msg('disabled', color='YELLOW')
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cfg.start_msg('Coverage build')
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if cfg.env.COVERAGE:
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cfg.end_msg('enabled')
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@ -667,6 +680,11 @@ def configure(cfg):
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cfg.remove_target_list()
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_collect_autoconfig_files(cfg)
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if cfg.env.DEBUG and cfg.env.VS_LAUNCH:
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import vscode_helper
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vscode_helper.init_launch_json_if_not_exist(cfg)
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vscode_helper.update_openocd_cfg(cfg)
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def collect_dirs_to_recurse(bld, globs, **kw):
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dirs = []
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globs = Utils.to_list(globs)
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@ -931,6 +949,10 @@ def build(bld):
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_build_post_funs(bld)
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if bld.env.DEBUG and bld.env.VS_LAUNCH:
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import vscode_helper
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vscode_helper.update_settings(bld)
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ardupilotwaf.build_command('check',
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program_group_list='all',
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doc='builds all programs and run tests',
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