From 38fbb452dabfb9b15146e0c91f7717250b3fce01 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 9 Nov 2020 17:49:50 -0500
Subject: [PATCH] vscode add navio2 variant and native debug launch

---
 .vscode/cmake-variants.yaml              |  5 ++++
 platforms/posix/CMakeLists.txt           | 10 +++++++
 platforms/posix/Debug/launch_rpi.json.in | 33 ++++++++++++++++++++++++
 platforms/posix/cmake/sitl_target.cmake  |  7 -----
 4 files changed, 48 insertions(+), 7 deletions(-)
 create mode 100644 platforms/posix/Debug/launch_rpi.json.in

diff --git a/.vscode/cmake-variants.yaml b/.vscode/cmake-variants.yaml
index 02164705d8..40e066a3bf 100644
--- a/.vscode/cmake-variants.yaml
+++ b/.vscode/cmake-variants.yaml
@@ -86,6 +86,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: cubepilot_cubeyellow_default
+    emlid_navio2_default:
+      short: emlid_navio2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: emlid_navio2_default
     holybro_durandal-v1_default:
       short: holybro_durandal-v1
       buildType: MinSizeRel
diff --git a/platforms/posix/CMakeLists.txt b/platforms/posix/CMakeLists.txt
index 5d5eaf1116..2da44e57df 100644
--- a/platforms/posix/CMakeLists.txt
+++ b/platforms/posix/CMakeLists.txt
@@ -115,8 +115,18 @@ if("${PX4_BOARD}" MATCHES "beaglebone_blue")
 elseif("${PX4_BOARD}" MATCHES "emlid_navio2")
 	target_link_libraries(px4 PRIVATE atomic)
 
+	# vscode launch.json
+	configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_rpi.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
+
 elseif("${PX4_BOARD}" MATCHES "sitl")
 
+	# vscode launch.json
+	if(${PX4_BOARD_LABEL} MATCHES "replay")
+		configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_replay.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
+	else()
+		configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_sim.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
+	endif()
+
 	include(sitl_target)
 	if(BUILD_TESTING)
 		include(sitl_tests)
diff --git a/platforms/posix/Debug/launch_rpi.json.in b/platforms/posix/Debug/launch_rpi.json.in
new file mode 100644
index 0000000000..763b5cb835
--- /dev/null
+++ b/platforms/posix/Debug/launch_rpi.json.in
@@ -0,0 +1,33 @@
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "PX4 posix-configs/rpi/px4.config",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${command:cmake.launchTargetPath}",
+            "args": [
+                "-s", "../../posix-configs/rpi/px4.config"
+            ],
+            "stopAtEntry": false,
+            "cwd": "${command:cmake.buildDirectory}",
+            "externalConsole": false,
+            "linux": {
+                "MIMode": "gdb",
+                "externalConsole": false,
+                "setupCommands": [
+                    {
+                        "description": "Enable pretty-printing for gdb",
+                        "text": "-enable-pretty-printing",
+                        "ignoreFailures": true
+                    },
+                    {
+                        "description": "PX4 ignore wq signals",
+                        "text": "handle SIGCONT nostop noprint nopass",
+                        "ignoreFailures": true
+                    }
+                ]
+            }
+        },
+    ]
+}
diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
index 483da33b88..0c1a7bf89d 100644
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@@ -288,10 +288,3 @@ add_custom_target(list_vmd_make_targets
 	COMMENT "List of acceptable '${PX4_BOARD}' <viewer_model_debugger> targets:"
 	VERBATIM
 	)
-
-# vscode launch.json
-if(${PX4_BOARD_LABEL} MATCHES "replay")
-	configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_replay.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
-else()
-	configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_sim.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
-endif()