mirror of https://github.com/ArduPilot/ardupilot
add vs code launch.json auto generation in waf configure
This commit is contained in:
Huibean
Huibean Luo
parent
aec7cc24d1
commit
d217a06e3d
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@ -0,0 +1,31 @@
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{
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"sitl": {
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"args": [
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"-S",
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"--model",
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"flightaxis:127.0.0.1",
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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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"postRemoteConnectCommands": [
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{
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"description": "Set breakpoint at AP_HAL::panic",
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"text": "-break-insert AP_HAL::panic",
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"ignoreFailures": false
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}
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],
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"variables": {
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"CRASH_DUMP": "crash_dump.bin"
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}
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},
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"hardware": {
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"variables": {
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"CRASH_DUMP": "crash_dump.bin"
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},
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"miDebuggerArgs": "-nx -ex \"set target-charset ASCII\" -ex \"target remote | ${workspaceFolder}/modules/CrashDebug/bins/lin64/CrashDebug --elf ${workspaceFolder}/${ELF_FILE} --dump ${workspaceFolder}/${CRASH_DUMP}\""
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}
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}
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@ -0,0 +1,209 @@
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import os
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import json
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VS_LAUNCH_DEFAULT_TEMPLATE = {
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"version": "0.2.0",
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"configurations": []
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}
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SITL_DEFAULT_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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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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CONIFIGURATIONTS = [
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{'name': 'ArduCopter', 'target': 'arducopter'},
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{'name': 'ArduPlane', 'target': 'arduplane'},
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{'name': 'ArduCopter-Heli', 'target': 'arducopter-heli'},
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{'name': 'ArduRover', 'target': 'ardurover'},
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{'name': 'ArduSub', 'target': 'ardusub'},
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{'name': 'AP_Periph', 'target': 'AP_Periph'},
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{'name': 'AP_Blimp', 'target': 'blimp'},
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{'name': 'AntennaTracker', 'target': 'antennatracker'},
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{'name': 'AP_Bootloader', 'target': 'ap_bootloader'},
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] #pending to add more targets
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def merge_dicts(dict1, dict2):
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"""
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Recursively merges dict2 into dict1.
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"""
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for key, value in dict2.items():
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if key in dict1 and isinstance(dict1[key], dict) and isinstance(value, dict):
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merge_dicts(dict1[key], value)
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else:
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dict1[key] = value
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return dict1
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def _load_vscode_launch_profile_json(file_path):
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if os.path.exists(file_path):
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try:
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with open(file_path, 'r') as f:
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content = f.read().strip()
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if content:
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launch_profile_json = json.loads(content)
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else:
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launch_profile_json = {}
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return launch_profile_json
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except json.JSONDecodeError:
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print(f"\033[91mError: Invalid JSON in {file_path}. \033[0m")
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return {}
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else:
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return {}
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def _load_vscode_launch_json(file_path):
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if os.path.exists(file_path):
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try:
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with open(file_path, 'r') as f:
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content = f.read().strip()
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if content:
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launch_json = json.loads(content)
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else:
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launch_json = VS_LAUNCH_DEFAULT_TEMPLATE
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if "configurations" not in launch_json:
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launch_json["configurations"] = [] #initialize configurations
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if type(launch_json["configurations"]) is not list:
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launch_json["configurations"] = [] #overwrite invalid configurations
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except json.JSONDecodeError:
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print(f"\033[91mError: Invalid JSON in {file_path}. Creating a new launch.json file.\033[0m")
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launch_json = VS_LAUNCH_DEFAULT_TEMPLATE
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else:
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launch_json = VS_LAUNCH_DEFAULT_TEMPLATE
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return launch_json
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def _create_vscode_launch_json(cfg):
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launch_json_path = os.path.join(cfg.srcnode.abspath(), '.vscode', 'launch.json')
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launch_profile_json_path = os.path.join(cfg.srcnode.abspath(), '.vscode', 'launch_profile.json')
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launch_json = _load_vscode_launch_json(launch_json_path)
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launch_profile = _load_vscode_launch_profile_json(launch_profile_json_path)
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configurations = [
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{'name': 'ArduCopter', 'target': 'arducopter'},
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{'name': 'ArduPlane', 'target': 'arduplane'},
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{'name': 'ArduCopter-Heli', 'target': 'arducopter-heli'},
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{'name': 'ArduRover', 'target': 'ardurover'},
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{'name': 'ArduSub', 'target': 'ardusub'},
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{'name': 'AP_Periph', 'target': 'AP_Periph'},
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{'name': 'AP_Blimp', 'target': 'blimp'},
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{'name': 'AntennaTracker', 'target': 'antennatracker'},
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{'name': 'AP_Bootloader', 'target': 'ap_bootloader'},
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] #pending to add more targets
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for configuration in CONIFIGURATIONTS:
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if cfg.options.board == 'sitl':
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if configuration['name'] == 'AP_Bootloader':
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continue
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if os.uname().sysname == 'Darwin':
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MIMode = "lldb"
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else:
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MIMode = "gdb"
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launch_configuration = {
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"name": configuration['name'],
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"type": "cppdbg",
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"request": "launch",
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"program": "${workspaceFolder}/build/sitl/bin/" + configuration['target'],
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"args": SITL_DEFAULT_ARGS,
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"stopAtEntry": False,
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"cwd": "${workspaceFolder}",
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"environment": [],
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"externalConsole": False,
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"MIMode": 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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if launch_profile.get('sitl'):
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merge_dicts(launch_configuration, launch_profile.get('sitl'))
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else:
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if configuration['name'] == 'AP_Bootloader':
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executable_path = "${workspaceFolder}/build/"+ cfg.options.board + "/bootloader/AP_Bootloader"
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else:
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executable_path = "${workspaceFolder}/build/"+ cfg.options.board + "/bin/" + configuration['target']
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launch_configuration = {
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"name": configuration['name'],
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"cwd": "${workspaceFolder}",
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"executable": executable_path,
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"variables": {
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"ELF_FILE": executable_path,
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},
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"liveWatch": {
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"enabled": True,
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"samplesPerSecond": 4
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},
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"request": "launch",
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"type": "cortex-debug",
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"servertype": "openocd",
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"configFiles": [
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"${workspaceFolder}/build/" + cfg.options.board + "/openocd.cfg",
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]
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}
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if launch_profile.get('hardware'):
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merge_dicts(launch_configuration, launch_profile.get('hardware'))
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configuration_overwrited = False
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for index, current_configuration in enumerate(launch_json["configurations"]):
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if current_configuration.get('name') == launch_configuration['name']:
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launch_json["configurations"][index] = launch_configuration
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configuration_overwrited = True
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break
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if not configuration_overwrited:
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launch_json["configurations"].append(launch_configuration)
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with open(launch_json_path, 'w') as f:
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json.dump(launch_json, f, indent=4)
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#create openocd.cfg file
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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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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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17
wscript
17
wscript
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@ -155,6 +155,11 @@ def options(opt):
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action='store_true',
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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 launch.json template for Visual Studio Code.')
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g.add_option('--disable-watchdog',
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action='store_true',
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@ -502,6 +507,7 @@ 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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@ -607,6 +613,13 @@ 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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@ -652,6 +665,10 @@ 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.VS_LAUNCH:
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import vscode_helper
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vscode_helper._create_vscode_launch_json(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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