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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
View File

@ -973,7 +973,7 @@ def setup_rc(mavproxy):
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.
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(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'
if 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
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."""
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(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'
if 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
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.
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'
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'))
mavproxy = util.start_MAVProxy_SITL('ArduPlane', options=options)
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")
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.
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(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.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)

15
Tools/autotest/autotest.py
View File

@ -223,22 +223,22 @@ def run_step(step):
return get_default_params(vehicle, binary)
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':
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':
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':
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':
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':
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':
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("-j", default=None, type='int', help='build CPUs')
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()

12
Tools/autotest/pysim/util.py
View File

@ -187,7 +187,9 @@ def valgrind_log_filepath(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."""
cmd = []
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.close()
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)
if wipe:
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
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.
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'
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.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)