forked from Archive/PX4-Autopilot
vscode updates and improvements
- fix gazebo SITL debug
- now prompts you to select vehicle
- devcontainer.json container support https://code.visualstudio.com/docs/remote/containers
- this allows you to jump straight into working within a container (px4-dev-nuttx) on a fresh machine
- also helps with Codespaces https://github.com/features/codespaces
- plugin updates
- cpp extension pack, spell checking, CTest support
- cleanup intellisense
- the backup tag parser was a resource hog and didn't work very well
- fix problemMatcher support so that you can click on a build failure
This commit is contained in:
Daniel Agar
GitHub
parent
504730386a
commit
2b18b05a8a
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@ -0,0 +1,42 @@
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// For format details, see https://aka.ms/vscode-remote/devcontainer.json or this file's README at:
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// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
|
||||
{
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"name": "px4-dev-nuttx",
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"image": "px4io/px4-dev-nuttx-bionic:2020-04-01",
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||||
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"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
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||||
|
||||
// Set *default* container specific settings.json values on container create.
|
||||
"settings": {
|
||||
"terminal.integrated.shell.linux": "/bin/bash"
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||||
},
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||||
|
||||
// Add the IDs of extensions you want installed when the container is created.
|
||||
"extensions": [
|
||||
"chiehyu.vscode-astyle",
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||||
"dan-c-underwood.arm",
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||||
"fredericbonnet.cmake-test-adapter",
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||||
"github.vscode-pull-request-github",
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||||
"marus25.cortex-debug",
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||||
"ms-azuretools.vscode-docker",
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||||
"ms-iot.vscode-ros",
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||||
"ms-python.python",
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||||
"ms-vscode.cmake-tools",
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||||
"ms-vscode.cpptools",
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||||
"ms-vscode.cpptools-extension-pack",
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||||
"redhat.vscode-yaml",
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||||
"streetsidesoftware.code-spell-checker",
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||||
"twxs.cmake",
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"uavcan.dsdl",
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"wholroyd.jinja",
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"zixuanwang.linkerscript"
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],
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"containerUser": "user",
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"containerEnv": {
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"LOCAL_USER_ID": "${localEnv:UID}"
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},
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||||
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// Use 'forwardPorts' to make a list of ports inside the container available locally.
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"forwardPorts": [14556],
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}
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@ -1,75 +1,16 @@
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{
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||||
"configurations": [
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{
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"name": "Linux",
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||||
"browse": {
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||||
"limitSymbolsToIncludedHeaders": true,
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||||
"databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db"
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||||
},
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||||
"compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
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"compilerPath": "/usr/bin/g++",
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"name": "PX4",
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"includePath": [
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"${workspaceFolder}/**"
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],
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"defines": [],
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"macFrameworkPath": [],
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"configurationProvider": "ms-vscode.cmake-tools",
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"cppStandard": "c++14",
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"cStandard": "c11",
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"defines": [
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"__PX4_LINUX",
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"__PX4_POSIX"
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],
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"forcedInclude": [
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"${workspaceFolder}/src/include/visibility.h"
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],
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"includePath": [
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"${workspaceFolder}/boards/px4/sitl/src",
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"${workspaceFolder}/build/px4_sitl_default",
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"${workspaceFolder}/platforms/common/include",
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"${workspaceFolder}/platforms/posix/include",
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"${workspaceFolder}/platforms/posix/src/px4/common/include",
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"${workspaceFolder}/platforms/posix/src/px4/common/include",
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"${workspaceFolder}/platforms/posix/src/px4/generic/generic/include",
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"${workspaceFolder}/src",
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"${workspaceFolder}/src/include",
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"${workspaceFolder}/src/lib",
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"${workspaceFolder}/src/lib",
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"${workspaceFolder}/src/lib/matrix",
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"${workspaceFolder}/src/modules"
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],
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"intelliSenseMode": "${default}"
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},
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{
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"name": "Mac",
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"browse": {
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"limitSymbolsToIncludedHeaders": true,
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"databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db"
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},
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"compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
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"compilerPath": "/usr/bin/clang++",
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"configurationProvider": "ms-vscode.cmake-tools",
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"cppStandard": "c++14",
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"cStandard": "c11",
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"defines": [
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"__PX4_DARWIN",
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"__PX4_POSIX"
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],
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"forcedInclude": [
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"${workspaceFolder}/src/include/visibility.h"
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],
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"includePath": [
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"${workspaceFolder}/boards/px4/sitl/src",
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"${workspaceFolder}/build/px4_sitl_default",
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"${workspaceFolder}/platforms/common/include",
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"${workspaceFolder}/platforms/posix/include",
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"${workspaceFolder}/platforms/posix/src/px4/common/include",
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"${workspaceFolder}/platforms/posix/src/px4/common/include",
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"${workspaceFolder}/platforms/posix/src/px4/generic/generic/include",
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"${workspaceFolder}/src",
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"${workspaceFolder}/src/include",
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"${workspaceFolder}/src/lib",
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"${workspaceFolder}/src/lib",
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"${workspaceFolder}/src/lib/matrix",
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"${workspaceFolder}/src/modules"
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],
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"intelliSenseMode": "${default}"
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"cStandard": "c11"
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}
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||||
],
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"version": 4
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}
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}
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@ -4,6 +4,7 @@
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"recommendations": [
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||||
"chiehyu.vscode-astyle",
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"dan-c-underwood.arm",
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"fredericbonnet.cmake-test-adapter",
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"github.vscode-pull-request-github",
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"marus25.cortex-debug",
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"ms-azuretools.vscode-docker",
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@ -11,8 +12,9 @@
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"ms-python.python",
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"ms-vscode.cmake-tools",
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"ms-vscode.cpptools",
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"ms-vscode.cpptools-extension-pack",
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"redhat.vscode-yaml",
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"timonwong.shellcheck",
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"streetsidesoftware.code-spell-checker",
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"twxs.cmake",
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"uavcan.dsdl",
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"wholroyd.jinja",
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@ -3,70 +3,34 @@
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"astyle.c.enable": true,
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"astyle.cpp.enable": true,
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"breadcrumbs.enabled": true,
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"cmake.autoRestartBuild": true,
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"cmake.buildBeforeRun": true,
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"cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
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"cmake.configureOnOpen": true,
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"cmake.copyCompileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
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"cmake.debugConfig": {
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"name": "SITL shell (gdb)",
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"type": "cppdbg",
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"request": "launch",
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"program": "${command:cmake.launchTargetPath}",
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"args": [
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"${workspaceFolder}/ROMFS/px4fmu_common",
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"-s",
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"etc/init.d-posix/rcS",
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"-t",
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"${workspaceFolder}/test_data"
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],
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"stopAtEntry": false,
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"cwd": "${command:cmake.buildDirectory}/tmp",
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"environment": [
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{
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"name": "PX4_SIM_MODEL",
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"value": "shell"
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}
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||||
],
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"externalConsole": false,
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"linux": {
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"MIMode": "gdb",
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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": true
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},
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{
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"description": "PX4 ignore wq signals",
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"text": "handle SIGCONT nostop noprint nopass",
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"ignoreFailures": true
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}
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]
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},
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"osx": {
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"MIMode": "lldb",
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"setupCommands": [
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{
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"text": "pro hand -p true -s false -n false SIGCONT",
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}
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]
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}
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},
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"C_Cpp.autoAddFileAssociations": false,
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"C_Cpp.clang_format_fallbackStyle": "none",
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||||
"C_Cpp.default.browse.databaseFilename": "${workspaceRoot}/.vscode/browse.vc.db",
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||||
"C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
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||||
"C_Cpp.default.cppStandard": "c++14",
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"C_Cpp.default.cStandard": "c11",
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"C_Cpp.default.intelliSenseMode": "gcc-x64",
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"C_Cpp.default.macFrameworkPath": null,
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"C_Cpp.formatting": "Disabled",
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"C_Cpp.intelliSenseEngine": "Default",
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"C_Cpp.intelliSenseEngineFallback": "Enabled",
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||||
"C_Cpp.vcpkg.enabled": false,
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"C_Cpp.workspaceParsingPriority": "low",
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"cmake.buildBeforeRun": true,
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"cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
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"cmake.buildTask": true,
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"cmake.configureOnOpen": true,
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"cmake.ctest.parallelJobs": 1,
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"cmake.skipConfigureIfCachePresent": true,
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"cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
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"cmakeExplorer.parallelJobs": 1,
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"cmakeExplorer.suiteDelimiter": "-",
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||||
"cortex-debug.enableTelemetry": false,
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||||
"cSpell.allowCompoundWords": true,
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||||
"cSpell.diagnosticLevel": "Hint",
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"cSpell.showStatus": false,
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"cSpell.words": [
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"acro",
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"rattitude",
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"nuttx",
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"esc"
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||||
],
|
||||
"debug.toolBarLocation": "docked",
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||||
"editor.acceptSuggestionOnEnter": "off",
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||||
"editor.defaultFormatter": "chiehyu.vscode-astyle",
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||||
|
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@ -88,7 +52,6 @@
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|||
"git.ignoreLimitWarning": true,
|
||||
"githubPullRequests.defaultMergeMethod": "squash",
|
||||
"githubPullRequests.telemetry.enabled": false,
|
||||
"gitlens.advanced.telemetry.enabled": false,
|
||||
"files.associations": {
|
||||
"*.jinja": "jinja",
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||||
"algorithm": "cpp",
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||||
|
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@ -166,17 +129,15 @@
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|||
},
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||||
"search.showLineNumbers": true,
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||||
"search.smartCase": true,
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||||
"shellcheck.exclude": [2154],
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||||
"telemetry.enableTelemetry": false,
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||||
"terminal.integrated.copyOnSelection": true,
|
||||
"terminal.integrated.rightClickCopyPaste": true,
|
||||
"terminal.integrated.rightClickBehavior": "paste",
|
||||
"terminal.integrated.scrollback": 5000,
|
||||
"window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
|
||||
"workbench.editor.highlightModifiedTabs": true,
|
||||
"workbench.enableExperiments": false,
|
||||
"workbench.settings.enableNaturalLanguageSearch": false,
|
||||
"workbench.statusBar.feedback.visible": false,
|
||||
"yaml.schemas": {
|
||||
"${workspaceRoot}/validation/module_schema.yaml": "${workspaceRoot}/src/modules/*/module.yaml"
|
||||
"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -3,12 +3,58 @@
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|||
// for the documentation about the tasks.json format
|
||||
"version": "2.0.0",
|
||||
"tasks": [
|
||||
{
|
||||
"label": "build",
|
||||
"type": "shell",
|
||||
"command": "/bin/bash",
|
||||
"args": [
|
||||
"-c",
|
||||
"${command:cmake.tasksBuildCommand}"
|
||||
],
|
||||
"options": {
|
||||
"cwd": "${command:cmake.buildDirectory}"
|
||||
},
|
||||
"group": {
|
||||
"kind": "build",
|
||||
"isDefault": true,
|
||||
},
|
||||
"problemMatcher": {
|
||||
"base": "$gcc",
|
||||
"fileLocation": ["relative", "${command:cmake.buildDirectory}"]
|
||||
},
|
||||
"presentation":{
|
||||
"echo": false,
|
||||
"showReuseMessage": false,
|
||||
"clear": true,
|
||||
"panel": "shared",
|
||||
"group": "build"
|
||||
}
|
||||
},
|
||||
{
|
||||
"label": "test",
|
||||
"type": "shell",
|
||||
"command": "make tests",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}"
|
||||
},
|
||||
"group": {
|
||||
"kind": "test",
|
||||
"isDefault": true,
|
||||
},
|
||||
"presentation":{
|
||||
"echo": true,
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
"panel": "shared",
|
||||
"group": "test"
|
||||
}
|
||||
},
|
||||
{
|
||||
"label": "jmavsim build",
|
||||
"type": "shell",
|
||||
"command": "ant create_run_jar copy_res",
|
||||
"options": {
|
||||
"cwd": "${workspaceRoot}/Tools/jMAVSim"
|
||||
"cwd": "${workspaceFolder}/Tools/jMAVSim"
|
||||
},
|
||||
"problemMatcher": [],
|
||||
"presentation":{
|
||||
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|
@ -17,7 +63,7 @@
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|||
"focus": false,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": true
|
||||
"clear": false,
|
||||
}
|
||||
},
|
||||
{
|
||||
|
|
@ -26,7 +72,7 @@
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|||
"dependsOn": "jmavsim build",
|
||||
"command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
|
||||
"options": {
|
||||
"cwd": "${workspaceRoot}/Tools/jMAVSim/out/production",
|
||||
"cwd": "${workspaceFolder}/Tools/jMAVSim/out/production",
|
||||
"env": {
|
||||
"PX4_SIM_SPEED_FACTOR": "1"
|
||||
}
|
||||
|
|
@ -38,7 +84,7 @@
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|||
"focus": false,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": true
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": [
|
||||
{
|
||||
|
|
@ -68,7 +114,7 @@
|
|||
"focus": false,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": true
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": []
|
||||
},
|
||||
|
|
@ -77,31 +123,31 @@
|
|||
"type": "shell",
|
||||
"command": "make px4_sitl_default sitl_gazebo",
|
||||
"options": {
|
||||
"cwd": "${workspaceRoot}"
|
||||
"cwd": "${workspaceFolder}"
|
||||
},
|
||||
"problemMatcher": [],
|
||||
"presentation":{
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"reveal": "always",
|
||||
"focus": false,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": true
|
||||
"clear": false,
|
||||
}
|
||||
},
|
||||
{
|
||||
"label": "gazebo iris",
|
||||
"label": "gazebo start",
|
||||
"type": "shell",
|
||||
"dependsOn": "gazebo build",
|
||||
"options": {
|
||||
"cwd": "${workspaceRoot}",
|
||||
"cwd": "${workspaceFolder}",
|
||||
"env": {
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
|
||||
"PX4_SIM_SPEED_FACTOR": "1"
|
||||
}
|
||||
},
|
||||
"command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/iris.world",
|
||||
"command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/empty.world",
|
||||
"isBackground": true,
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
|
|
@ -109,7 +155,7 @@
|
|||
"focus": false,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": true
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": [
|
||||
{
|
||||
|
|
@ -130,146 +176,26 @@
|
|||
]
|
||||
},
|
||||
{
|
||||
"label": "gazebo plane",
|
||||
"label": "gazebo",
|
||||
"type": "shell",
|
||||
"dependsOn": "gazebo build",
|
||||
"dependsOn": "gazebo start",
|
||||
"options": {
|
||||
"cwd": "${workspaceRoot}",
|
||||
"cwd": "${workspaceFolder}",
|
||||
"env": {
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
|
||||
"PX4_SIM_SPEED_FACTOR": "1"
|
||||
}
|
||||
},
|
||||
"command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/plane.world",
|
||||
"isBackground": true,
|
||||
"command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83",
|
||||
"isBackground": false,
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"focus": false,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": true
|
||||
},
|
||||
"problemMatcher": [
|
||||
{
|
||||
"pattern": [
|
||||
{
|
||||
"regexp": ".",
|
||||
"file": 1,
|
||||
"location": 2,
|
||||
"message": 3
|
||||
}
|
||||
],
|
||||
"background": {
|
||||
"activeOnStart": true,
|
||||
"beginsPattern": ".",
|
||||
"endsPattern": ".",
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "gazebo standard_vtol",
|
||||
"type": "shell",
|
||||
"dependsOn": "gazebo build",
|
||||
"options": {
|
||||
"cwd": "${workspaceRoot}",
|
||||
"env": {
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
|
||||
"PX4_SIM_SPEED_FACTOR": "1"
|
||||
}
|
||||
},
|
||||
"command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/standard_vtol.world",
|
||||
"isBackground": true,
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"focus": false,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": true
|
||||
},
|
||||
"problemMatcher": [
|
||||
{
|
||||
"pattern": [
|
||||
{
|
||||
"regexp": ".",
|
||||
"file": 1,
|
||||
"location": 2,
|
||||
"message": 3
|
||||
}
|
||||
],
|
||||
"background": {
|
||||
"activeOnStart": true,
|
||||
"beginsPattern": ".",
|
||||
"endsPattern": ".",
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "gazebo tailsitter",
|
||||
"type": "shell",
|
||||
"dependsOn": "gazebo build",
|
||||
"options": {
|
||||
"cwd": "${workspaceRoot}",
|
||||
"env": {
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
|
||||
"PX4_SIM_SPEED_FACTOR": "1"
|
||||
}
|
||||
},
|
||||
"command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/tailsitter.world",
|
||||
"isBackground": true,
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"focus": false,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": true
|
||||
},
|
||||
"problemMatcher": [
|
||||
{
|
||||
"pattern": [
|
||||
{
|
||||
"regexp": ".",
|
||||
"file": 1,
|
||||
"location": 2,
|
||||
"message": 3
|
||||
}
|
||||
],
|
||||
"background": {
|
||||
"activeOnStart": true,
|
||||
"beginsPattern": ".",
|
||||
"endsPattern": ".",
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "gazebo tiltrotor",
|
||||
"type": "shell",
|
||||
"dependsOn": "gazebo build",
|
||||
"options": {
|
||||
"cwd": "${workspaceRoot}",
|
||||
"env": {
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
|
||||
"PX4_SIM_SPEED_FACTOR": "1"
|
||||
}
|
||||
},
|
||||
"command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/tiltrotor.world",
|
||||
"isBackground": true,
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"focus": false,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": true
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": [
|
||||
{
|
||||
|
|
@ -294,10 +220,10 @@
|
|||
"type": "shell",
|
||||
"dependsOn": "gazebo build",
|
||||
"options": {
|
||||
"cwd": "${workspaceRoot}",
|
||||
"cwd": "${workspaceFolder}",
|
||||
"env": {
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
|
||||
"PX4_SIM_SPEED_FACTOR": "1"
|
||||
}
|
||||
},
|
||||
|
|
@ -309,7 +235,7 @@
|
|||
"focus": false,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": true
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": [
|
||||
{
|
||||
|
|
@ -334,12 +260,42 @@
|
|||
"type": "shell",
|
||||
"command": "killall gzserver",
|
||||
"presentation": {
|
||||
"echo": false,
|
||||
"reveal": "never",
|
||||
"echo": true,
|
||||
"reveal": "silent",
|
||||
"focus": false,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": true
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": [],
|
||||
"dependsOn":["px4_sitl_cleanup"]
|
||||
},
|
||||
{
|
||||
"label": "px4_sitl_cleanup",
|
||||
"type": "shell",
|
||||
"command": "rm -rfv /tmp/px4*",
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "silent",
|
||||
"focus": false,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": [],
|
||||
"dependsOn":["px4_kill"]
|
||||
},
|
||||
{
|
||||
"label": "px4_kill",
|
||||
"type": "shell",
|
||||
"command": "killall px4 || true",
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "silent",
|
||||
"focus": false,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": []
|
||||
},
|
||||
|
|
@ -348,7 +304,7 @@
|
|||
"type": "shell",
|
||||
"command": "./Tools/mavlink_shell.py",
|
||||
"options": {
|
||||
"cwd": "${workspaceRoot}"
|
||||
"cwd": "${workspaceFolder}"
|
||||
},
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
|
|
@ -365,7 +321,7 @@
|
|||
"type": "shell",
|
||||
"command": "miniterm.py --raw - 57600",
|
||||
"options": {
|
||||
"cwd": "${workspaceRoot}"
|
||||
"cwd": "${workspaceFolder}"
|
||||
},
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
|
|
@ -377,5 +333,25 @@
|
|||
},
|
||||
"problemMatcher": []
|
||||
}
|
||||
],
|
||||
"inputs": [
|
||||
{
|
||||
"type": "pickString",
|
||||
"id": "vehicleModel",
|
||||
"description": "gazebo model",
|
||||
"options": [
|
||||
"iris",
|
||||
"typhoon_h480",
|
||||
"plane",
|
||||
"plane_catapult",
|
||||
"plane_lidar",
|
||||
"standard_vtol",
|
||||
"tailsitter",
|
||||
"tiltrotor",
|
||||
"r1_rover",
|
||||
"boat"
|
||||
],
|
||||
"default": "iris"
|
||||
}
|
||||
]
|
||||
}
|
||||
|
|
|
|||
|
|
@ -2,6 +2,7 @@
|
|||
|
||||
|
||||
set -e
|
||||
set -o xtrace
|
||||
|
||||
if [ "$#" -lt 7 ]; then
|
||||
echo usage: sitl_run.sh sitl_bin debugger program model world src_path build_path
|
||||
|
|
|
|||
|
|
@ -11,12 +11,12 @@
|
|||
"servertype": "jlink",
|
||||
"interface": "swd",
|
||||
//"ipAddress": "server:19020",
|
||||
"cwd": "${workspaceRoot}",
|
||||
"cwd": "${workspaceFolder}",
|
||||
"internalConsoleOptions": "openOnSessionStart",
|
||||
"preLaunchCommands": [
|
||||
"source ${workspaceRoot}/platforms/nuttx/Debug/PX4",
|
||||
"source ${workspaceRoot}/platforms/nuttx/Debug/NuttX",
|
||||
"source ${workspaceRoot}/platforms/nuttx/Debug/ARMv7M",
|
||||
"source ${workspaceFolder}/platforms/nuttx/Debug/PX4",
|
||||
"source ${workspaceFolder}/platforms/nuttx/Debug/NuttX",
|
||||
"source ${workspaceFolder}/platforms/nuttx/Debug/ARMv7M",
|
||||
"set mem inaccessible-by-default off",
|
||||
"set print pretty",
|
||||
]
|
||||
|
|
@ -31,12 +31,12 @@
|
|||
"servertype": "bmp",
|
||||
"BMPGDBSerialPort": "/dev/ttyACM0",
|
||||
"interface": "swd",
|
||||
"cwd": "${workspaceRoot}",
|
||||
"cwd": "${workspaceFolder}",
|
||||
"internalConsoleOptions": "openOnSessionStart",
|
||||
"preLaunchCommands": [
|
||||
"source ${workspaceRoot}/platforms/nuttx/Debug/PX4",
|
||||
"source ${workspaceRoot}/platforms/nuttx/Debug/NuttX",
|
||||
"source ${workspaceRoot}/platforms/nuttx/Debug/ARMv7M",
|
||||
"source ${workspaceFolder}/platforms/nuttx/Debug/PX4",
|
||||
"source ${workspaceFolder}/platforms/nuttx/Debug/NuttX",
|
||||
"source ${workspaceFolder}/platforms/nuttx/Debug/ARMv7M",
|
||||
"set mem inaccessible-by-default off",
|
||||
"set print pretty",
|
||||
]
|
||||
|
|
|
|||
|
|
@ -2,223 +2,25 @@
|
|||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
{
|
||||
"name": "SITL (gazebo iris)",
|
||||
"name": "SITL (gazebo)",
|
||||
"type": "cppdbg",
|
||||
"request": "launch",
|
||||
"program": "${command:cmake.launchTargetPath}",
|
||||
"args": [
|
||||
"${workspaceFolder}/ROMFS/px4fmu_common",
|
||||
"-s",
|
||||
"etc/init.d-posix/rcS",
|
||||
"-t",
|
||||
"${workspaceFolder}/test_data"
|
||||
"-s", "etc/init.d-posix/rcS",
|
||||
"-t", "${workspaceFolder}/test_data"
|
||||
],
|
||||
"stopAtEntry": false,
|
||||
"cwd": "${command:cmake.buildDirectory}/tmp",
|
||||
"environment": [
|
||||
{
|
||||
"name": "PX4_SIM_MODEL",
|
||||
"value": "iris"
|
||||
"value": "${input:PX4_SIM_MODEL}"
|
||||
}
|
||||
],
|
||||
"externalConsole": false,
|
||||
"preLaunchTask": "gazebo iris",
|
||||
"postDebugTask": "gazebo kill",
|
||||
"linux": {
|
||||
"MIMode": "gdb",
|
||||
"externalConsole": false,
|
||||
"setupCommands": [
|
||||
{
|
||||
"description": "Enable pretty-printing for gdb",
|
||||
"text": "-enable-pretty-printing",
|
||||
"ignoreFailures": true
|
||||
},
|
||||
{
|
||||
"description": "PX4 ignore wq signals",
|
||||
"text": "handle SIGCONT nostop noprint nopass",
|
||||
"ignoreFailures": true
|
||||
}
|
||||
]
|
||||
},
|
||||
"osx": {
|
||||
"MIMode": "lldb",
|
||||
"externalConsole": true,
|
||||
"setupCommands": [
|
||||
{
|
||||
"text": "pro hand -p true -s false -n false SIGCONT",
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "SITL (gazebo plane)",
|
||||
"type": "cppdbg",
|
||||
"request": "launch",
|
||||
"program": "${command:cmake.launchTargetPath}",
|
||||
"args": [
|
||||
"${workspaceFolder}/ROMFS/px4fmu_common",
|
||||
"-s",
|
||||
"etc/init.d-posix/rcS",
|
||||
"-t",
|
||||
"${workspaceFolder}/test_data"
|
||||
],
|
||||
"stopAtEntry": false,
|
||||
"cwd": "${command:cmake.buildDirectory}/tmp",
|
||||
"environment": [
|
||||
{
|
||||
"name": "PX4_SIM_MODEL",
|
||||
"value": "plane"
|
||||
}
|
||||
],
|
||||
"externalConsole": false,
|
||||
"preLaunchTask": "gazebo plane",
|
||||
"postDebugTask": "gazebo kill",
|
||||
"linux": {
|
||||
"MIMode": "gdb",
|
||||
"externalConsole": false,
|
||||
"setupCommands": [
|
||||
{
|
||||
"description": "Enable pretty-printing for gdb",
|
||||
"text": "-enable-pretty-printing",
|
||||
"ignoreFailures": true
|
||||
},
|
||||
{
|
||||
"description": "PX4 ignore wq signals",
|
||||
"text": "handle SIGCONT nostop noprint nopass",
|
||||
"ignoreFailures": true
|
||||
}
|
||||
]
|
||||
},
|
||||
"osx": {
|
||||
"MIMode": "lldb",
|
||||
"externalConsole": true,
|
||||
"setupCommands": [
|
||||
{
|
||||
"text": "pro hand -p true -s false -n false SIGCONT",
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "SITL (gazebo standard_vtol)",
|
||||
"type": "cppdbg",
|
||||
"request": "launch",
|
||||
"program": "${command:cmake.launchTargetPath}",
|
||||
"args": [
|
||||
"${workspaceFolder}/ROMFS/px4fmu_common",
|
||||
"-s",
|
||||
"etc/init.d-posix/rcS",
|
||||
"-t",
|
||||
"${workspaceFolder}/test_data"
|
||||
],
|
||||
"stopAtEntry": false,
|
||||
"cwd": "${command:cmake.buildDirectory}/tmp",
|
||||
"environment": [
|
||||
{
|
||||
"name": "PX4_SIM_MODEL",
|
||||
"value": "standard_vtol"
|
||||
}
|
||||
],
|
||||
"externalConsole": false,
|
||||
"preLaunchTask": "gazebo standard_vtol",
|
||||
"postDebugTask": "gazebo kill",
|
||||
"linux": {
|
||||
"MIMode": "gdb",
|
||||
"externalConsole": false,
|
||||
"setupCommands": [
|
||||
{
|
||||
"description": "Enable pretty-printing for gdb",
|
||||
"text": "-enable-pretty-printing",
|
||||
"ignoreFailures": true
|
||||
},
|
||||
{
|
||||
"description": "PX4 ignore wq signals",
|
||||
"text": "handle SIGCONT nostop noprint nopass",
|
||||
"ignoreFailures": true
|
||||
}
|
||||
]
|
||||
},
|
||||
"osx": {
|
||||
"MIMode": "lldb",
|
||||
"externalConsole": true,
|
||||
"setupCommands": [
|
||||
{
|
||||
"text": "pro hand -p true -s false -n false SIGCONT",
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "SITL (gazebo tailsitter)",
|
||||
"type": "cppdbg",
|
||||
"request": "launch",
|
||||
"program": "${command:cmake.launchTargetPath}",
|
||||
"args": [
|
||||
"${workspaceFolder}/ROMFS/px4fmu_common",
|
||||
"-s",
|
||||
"etc/init.d-posix/rcS",
|
||||
"-t",
|
||||
"${workspaceFolder}/test_data"
|
||||
],
|
||||
"stopAtEntry": false,
|
||||
"cwd": "${command:cmake.buildDirectory}/tmp",
|
||||
"environment": [
|
||||
{
|
||||
"name": "PX4_SIM_MODEL",
|
||||
"value": "tailsitter"
|
||||
}
|
||||
],
|
||||
"externalConsole": false,
|
||||
"preLaunchTask": "gazebo tailsitter",
|
||||
"postDebugTask": "gazebo kill",
|
||||
"linux": {
|
||||
"MIMode": "gdb",
|
||||
"externalConsole": false,
|
||||
"setupCommands": [
|
||||
{
|
||||
"description": "Enable pretty-printing for gdb",
|
||||
"text": "-enable-pretty-printing",
|
||||
"ignoreFailures": true
|
||||
},
|
||||
{
|
||||
"description": "PX4 ignore wq signals",
|
||||
"text": "handle SIGCONT nostop noprint nopass",
|
||||
"ignoreFailures": true
|
||||
}
|
||||
]
|
||||
},
|
||||
"osx": {
|
||||
"MIMode": "lldb",
|
||||
"externalConsole": true,
|
||||
"setupCommands": [
|
||||
{
|
||||
"text": "pro hand -p true -s false -n false SIGCONT",
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "SITL (gazebo tiltrotor)",
|
||||
"type": "cppdbg",
|
||||
"request": "launch",
|
||||
"program": "${command:cmake.launchTargetPath}",
|
||||
"args": [
|
||||
"${workspaceFolder}/ROMFS/px4fmu_common",
|
||||
"-s",
|
||||
"etc/init.d-posix/rcS",
|
||||
"-t",
|
||||
"${workspaceFolder}/test_data"
|
||||
],
|
||||
"stopAtEntry": false,
|
||||
"cwd": "${command:cmake.buildDirectory}/tmp",
|
||||
"environment": [
|
||||
{
|
||||
"name": "PX4_SIM_MODEL",
|
||||
"value": "tiltrotor"
|
||||
}
|
||||
],
|
||||
"externalConsole": false,
|
||||
"preLaunchTask": "gazebo tiltrotor",
|
||||
"preLaunchTask": "gazebo",
|
||||
"postDebugTask": "gazebo kill",
|
||||
"linux": {
|
||||
"MIMode": "gdb",
|
||||
|
|
@ -253,10 +55,8 @@
|
|||
"program": "${command:cmake.launchTargetPath}",
|
||||
"args": [
|
||||
"${workspaceFolder}/ROMFS/px4fmu_common",
|
||||
"-s",
|
||||
"etc/init.d-posix/rcS",
|
||||
"-t",
|
||||
"${workspaceFolder}/test_data"
|
||||
"-s", "etc/init.d-posix/rcS",
|
||||
"-t", "${workspaceFolder}/test_data"
|
||||
],
|
||||
"stopAtEntry": false,
|
||||
"cwd": "${command:cmake.buildDirectory}/tmp",
|
||||
|
|
@ -301,10 +101,8 @@
|
|||
"program": "${command:cmake.launchTargetPath}",
|
||||
"args": [
|
||||
"${workspaceFolder}/ROMFS/px4fmu_common",
|
||||
"-s",
|
||||
"etc/init.d-posix/rcS",
|
||||
"-t",
|
||||
"${workspaceFolder}/test_data"
|
||||
"-s", "etc/init.d-posix/rcS",
|
||||
"-t", "${workspaceFolder}/test_data"
|
||||
],
|
||||
"stopAtEntry": false,
|
||||
"cwd": "${command:cmake.buildDirectory}/tmp",
|
||||
|
|
@ -340,5 +138,25 @@
|
|||
]
|
||||
}
|
||||
}
|
||||
],
|
||||
"inputs": [
|
||||
{
|
||||
"type": "pickString",
|
||||
"id": "PX4_SIM_MODEL",
|
||||
"description": "PX4_SIM_MODEL",
|
||||
"options": [
|
||||
"iris",
|
||||
"typhoon_h480",
|
||||
"plane",
|
||||
"plane_catapult",
|
||||
"plane_lidar",
|
||||
"standard_vtol",
|
||||
"tailsitter",
|
||||
"tiltrotor",
|
||||
"r1_rover",
|
||||
"boat"
|
||||
],
|
||||
"default": "iris"
|
||||
}
|
||||
]
|
||||
}
|
||||
|
|
|
|||
|
|
@ -104,18 +104,18 @@ foreach(viewer ${viewers})
|
|||
endif()
|
||||
|
||||
add_custom_target(${_targ_name}
|
||||
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
|
||||
$<TARGET_FILE:px4>
|
||||
${debugger}
|
||||
${viewer}
|
||||
${model}
|
||||
${world}
|
||||
${PX4_SOURCE_DIR}
|
||||
${PX4_BINARY_DIR}
|
||||
WORKING_DIRECTORY ${SITL_WORKING_DIR}
|
||||
USES_TERMINAL
|
||||
DEPENDS
|
||||
logs_symlink
|
||||
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
|
||||
$<TARGET_FILE:px4>
|
||||
${debugger}
|
||||
${viewer}
|
||||
${model}
|
||||
${world}
|
||||
${PX4_SOURCE_DIR}
|
||||
${PX4_BINARY_DIR}
|
||||
WORKING_DIRECTORY ${SITL_WORKING_DIR}
|
||||
USES_TERMINAL
|
||||
DEPENDS
|
||||
logs_symlink
|
||||
)
|
||||
list(APPEND all_posix_vmd_make_targets ${_targ_name})
|
||||
if (viewer STREQUAL "gazebo")
|
||||
|
|
@ -140,18 +140,17 @@ foreach(viewer ${viewers})
|
|||
endif()
|
||||
|
||||
add_custom_target(${_targ_name}
|
||||
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
|
||||
$<TARGET_FILE:px4>
|
||||
${debugger}
|
||||
${viewer}
|
||||
${model}
|
||||
${world}
|
||||
${PX4_SOURCE_DIR}
|
||||
${PX4_BINARY_DIR}
|
||||
WORKING_DIRECTORY ${SITL_WORKING_DIR}
|
||||
USES_TERMINAL
|
||||
DEPENDS
|
||||
logs_symlink
|
||||
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
|
||||
$<TARGET_FILE:px4>
|
||||
${debugger}
|
||||
${viewer}
|
||||
${model}
|
||||
${world}
|
||||
${PX4_SOURCE_DIR}
|
||||
${PX4_BINARY_DIR}
|
||||
WORKING_DIRECTORY ${SITL_WORKING_DIR}
|
||||
USES_TERMINAL
|
||||
DEPENDS logs_symlink
|
||||
)
|
||||
list(APPEND all_posix_vmd_make_targets ${_targ_name})
|
||||
add_dependencies(${_targ_name} px4 sitl_gazebo)
|
||||
|
|
|
|||
|
|
@ -57,15 +57,12 @@ foreach(test_name ${tests})
|
|||
configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated)
|
||||
|
||||
add_test(NAME ${test_name_prefix}
|
||||
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
|
||||
$<TARGET_FILE:px4>
|
||||
none
|
||||
none
|
||||
test_${test_name}_generated
|
||||
none
|
||||
${PX4_SOURCE_DIR}
|
||||
${PX4_BINARY_DIR}
|
||||
WORKING_DIRECTORY ${SITL_WORKING_DIR})
|
||||
COMMAND $<TARGET_FILE:px4>
|
||||
-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated
|
||||
-t ${PX4_SOURCE_DIR}/test_data
|
||||
${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
|
||||
WORKING_DIRECTORY ${SITL_WORKING_DIR}
|
||||
)
|
||||
|
||||
set_tests_properties(${test_name_prefix} PROPERTIES FAIL_REGULAR_EXPRESSION "${test_name} FAILED")
|
||||
set_tests_properties(${test_name_prefix} PROPERTIES PASS_REGULAR_EXPRESSION "${test_name} PASSED")
|
||||
|
|
@ -75,38 +72,32 @@ endforeach()
|
|||
|
||||
|
||||
# Mavlink test requires mavlink running
|
||||
add_test(NAME mavlink
|
||||
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
|
||||
$<TARGET_FILE:px4>
|
||||
none
|
||||
none
|
||||
test_mavlink
|
||||
none
|
||||
${PX4_SOURCE_DIR}
|
||||
${PX4_BINARY_DIR}
|
||||
WORKING_DIRECTORY ${SITL_WORKING_DIR})
|
||||
add_test(NAME sitl-mavlink
|
||||
COMMAND $<TARGET_FILE:px4>
|
||||
-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_mavlink
|
||||
-t ${PX4_SOURCE_DIR}/test_data
|
||||
${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
|
||||
WORKING_DIRECTORY ${SITL_WORKING_DIR}
|
||||
)
|
||||
|
||||
set_tests_properties(mavlink PROPERTIES FAIL_REGULAR_EXPRESSION "mavlink FAILED")
|
||||
set_tests_properties(mavlink PROPERTIES PASS_REGULAR_EXPRESSION "mavlink PASSED")
|
||||
sanitizer_fail_test_on_error(mavlink)
|
||||
set_tests_properties(sitl-mavlink PROPERTIES FAIL_REGULAR_EXPRESSION "mavlink FAILED")
|
||||
set_tests_properties(sitl-mavlink PROPERTIES PASS_REGULAR_EXPRESSION "mavlink PASSED")
|
||||
sanitizer_fail_test_on_error(sitl-mavlink)
|
||||
|
||||
# A mystery why this fails on Cygwin currently.
|
||||
if(NOT CMAKE_SYSTEM_NAME STREQUAL "CYGWIN")
|
||||
# Shutdown test
|
||||
add_test(NAME shutdown
|
||||
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
|
||||
$<TARGET_FILE:px4>
|
||||
none
|
||||
none
|
||||
test_shutdown
|
||||
none
|
||||
${PX4_SOURCE_DIR}
|
||||
${PX4_BINARY_DIR}
|
||||
WORKING_DIRECTORY ${SITL_WORKING_DIR})
|
||||
add_test(NAME sitl-shutdown
|
||||
COMMAND $<TARGET_FILE:px4>
|
||||
-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_shutdown
|
||||
-t ${PX4_SOURCE_DIR}/test_data
|
||||
${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
|
||||
WORKING_DIRECTORY ${SITL_WORKING_DIR}
|
||||
)
|
||||
|
||||
#set_tests_properties(shutdown PROPERTIES FAIL_REGULAR_EXPRESSION "shutdown FAILED")
|
||||
set_tests_properties(shutdown PROPERTIES PASS_REGULAR_EXPRESSION "Exiting NOW.")
|
||||
sanitizer_fail_test_on_error(shutdown)
|
||||
set_tests_properties(sitl-shutdown PROPERTIES PASS_REGULAR_EXPRESSION "Exiting NOW.")
|
||||
sanitizer_fail_test_on_error(sitl-shutdown)
|
||||
endif()
|
||||
|
||||
# Dynamic module loading test
|
||||
|
|
@ -135,15 +126,12 @@ foreach(cmd_name ${test_cmds})
|
|||
configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_${cmd_name}_generated)
|
||||
|
||||
add_test(NAME posix_${cmd_name}
|
||||
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
|
||||
$<TARGET_FILE:px4>
|
||||
none
|
||||
none
|
||||
cmd_${cmd_name}_generated
|
||||
none
|
||||
${PX4_SOURCE_DIR}
|
||||
${PX4_BINARY_DIR}
|
||||
WORKING_DIRECTORY ${SITL_WORKING_DIR})
|
||||
COMMAND $<TARGET_FILE:px4>
|
||||
${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
|
||||
-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_${cmd_name}_generated
|
||||
-t ${PX4_SOURCE_DIR}/test_data
|
||||
WORKING_DIRECTORY ${SITL_WORKING_DIR}
|
||||
)
|
||||
|
||||
sanitizer_fail_test_on_error(posix_${cmd_name})
|
||||
set_tests_properties(posix_${cmd_name} PROPERTIES PASS_REGULAR_EXPRESSION "Exiting NOW.")
|
||||
|
|
|
|||
Loading…
Reference in New Issue