搞定cyberRT debug环境搭建

最新推荐文章于 2023-12-10 13:44:57 发布

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最新推荐文章于 2023-12-10 13:44:57 发布

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分类专栏：自动驾驶文章标签： vscode docker ide 动态规划自动驾驶

本文链接：https://blog.csdn.net/qq_32378713/article/details/129473413

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安装 docker 下的vscode 插件

配置docker 下vscode debug 环境

开始debug

因为apollo 中bazel 的环境依赖主要设置的是本地link，因此如果想在host 机器上搭建cyberRT 的debug 环境会很麻烦，这里主要讲的是在docker环境下的debug，效果和在host 下搭建一致。

安装docker engine

Install Docker Engine on Ubuntu

初始化docker 环境

bash apollo/docker/scripts/dev_start.sh

检查docker 环境是否启动

docker ps

安装vscode docker相关环境

进入docker

在vscode 插件中找到容器

选择attach vscode

选择前面创建好的容器进入

成功进入docker 容器内部，可以并且可以看到挂载进来的代码文件

安装 docker 下的vscode 插件

配置docker 下vscode debug 环境

找到.vsocde

创建launch.json

我这里使用的是gdb，如果你也是使用gcc/g++编译器就不需要改下面的配置，如果是使用llvm，那需要把gdb改成lldb

{
    // Use IntelliSense to learn about possible attributes.
    // Hover to view descriptions of existing attributes.
    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
    "version": "0.2.0",
    "configurations": [
      {
        "name": "(gdb) Launch Run",
        "preLaunchTask": "Bazel Build (Run)",
        "type": "cppdbg",
        "request": "launch",
        "program": "${workspaceFolder}/bazel-bin/${relativeFileDirname}/${fileBasenameNoExtension}",
        "args": [],
        "stopAtEntry": false,
        "cwd": "${workspaceFolder}",
        "environment": [],
        "externalConsole": false,
        "MIMode": "gdb"
      },
      {
        "name": "(gdb) Launch Run Opt",
        "preLaunchTask": "Bazel Build (Run Opt)",
        "type": "cppdbg",
        "request": "launch",
        "program": "${workspaceFolder}/bazel-bin/${relativeFileDirname}/${fileBasenameNoExtension}",
        "args": [],
        "stopAtEntry": false,
        "cwd": "${workspaceFolder}",
        "environment": [],
        "externalConsole": false,
        "MIMode": "gdb"
      },
      {
        "name": "(gdb) Launch Debug",
        "preLaunchTask": "Bazel Build (Debug)",
        "type": "cppdbg",
        "request": "launch",
        "program": "${workspaceFolder}/bazel-bin/${relativeFileDirname}/${fileBasenameNoExtension}",
        "args": [],
        "stopAtEntry": false,
        "cwd": "${workspaceFolder}",
        "environment": [],
        "externalConsole": false,
        "MIMode": "gdb"
      },
      {
        "preLaunchTask": "Bazel Build (Debug)",
        "name": "Codegdb",
        "type": "gdb",
        "request": "launch",
        "program": "${workspaceFolder}/bazel-bin/${relativeFileDirname}/${fileBasenameNoExtension}",
        "args": [],
        "sourceMap": {
          ".": "${workspaceFolder}"
        },
      },
      {
        "name": "Linux: g++ build and debug active file",
        "type": "cppdbg",
        "request": "launch",
        "program": "${workspaceFolder}/bazel-bin/${relativeFileDirname}/${fileBasenameNoExtension}",
        "args": [],
        "stopAtEntry": false,
        "cwd": "${workspaceFolder}",
        "environment": [],
        "externalConsole": false,
        "MIMode": "gdb",
        "setupCommands": [
          {
            "description": "Enable pretty-printing for gdb",
            "text": "-enable-pretty-printing",
            "ignoreFailures": true
          }
        ],
        "preLaunchTask": "Bazel Build (Debug)",
        "miDebuggerPath": "/usr/bin/gdb"
      }
    ]
  }

创建tasks.json

{
	"version": "2.0.0",
	"tasks": [
	  {
		"label": "Bazel Build (Debug)",
		"type": "shell",
		"command": "bazel  build --cxxopt='-std=c++17' ${relativeFileDirname}:${fileBasenameNoExtension} -c dbg",
		"windows": {
		  "command": "bazel build --cxxopt='-std=c++17' ${relativeFileDirname}:${fileBasenameNoExtension} --experimental_enable_runfiles -c dbg"
		},
		"osx": {
		  "command": "bazel build --cxxopt='-std=c++17' ${relativeFileDirname}:${fileBasenameNoExtension} -c dbg --spawn_strategy=local",
		},
		"group": {
		  "kind": "build",
		  "isDefault": true
		},
	  },
	  {
		"label": "Bazel Build (Run)",
		"type": "shell",
		"command": "bazel  build --cxxopt='-std=c++17' ${relativeFileDirname}:${fileBasenameNoExtension}",
		"windows": {
		  "command": "bazel build --cxxopt='-std=c++17' ${relativeFileDirname}:${fileBasenameNoExtension}"
		},
		"osx": {
		  "command": "bazel build --cxxopt='-std=c++17' ${relativeFileDirname}:${fileBasenameNoExtension}",
		},
		"group": {
		  "kind": "build",
		  "isDefault": true
		},
	  },
	  {
		"label": "Bazel Build (Run Opt)",
		"type": "shell",
		"command": "bazel  build --cxxopt='-std=c++17' ${relativeFileDirname}:${fileBasenameNoExtension} -c opt",
		"windows": {
		  "command": "bazel build --cxxopt='-std=c++17' ${relativeFileDirname}:${fileBasenameNoExtension} -c opt"
		},
		"osx": {
		  "command": "bazel build --cxxopt='-std=c++17' ${relativeFileDirname}:${fileBasenameNoExtension} -c opt",
		},
		"group": {
		  "kind": "build",
		  "isDefault": true
		},
	  }
	]
  }