gdb 使用

• 编译选项

SET(CMAKE_CXX_FLAGS "-std=c++11 -g")

• 遇到optimize-out variable

        增加参数 -O0

• gdb 启动

gdb ./YOU_EXEC_NAME

## bt
## f 0   # 根据 实际和自己代码最有关的进入
## print var    /  p  var
## list

• gdb coredump

gdb ./YOUR_EXEC_NAME coredump_file

• gdb 连接在线软件

## 1
gdb -p  PID
gdb --program PID
gdb attach PID

•  ubuntu 生成coredump 文件

#0  unlimit -c 查询
ulimit -c unlimited


#1 设置core dump 输出， 这样设置是临时的，开始重启会丢失
sudo bash -c "echo /tmp/core.%e.%p.%h.%t > /proc/sys/kernel/core_pattern"

#2 系统设置
vim /etc/sysctl.conf 
kernel.core_pattern = /tmp/core.%e.%p.%h.%t
最后sudo sysctl -p 来应用修改后的参数


"pattern"类似我们C语言打印字符串的格式，相关标识如下：

%%: 相当于%
%p: 相当于<pid>
%u: 相当于<uid>
%g: 相当于<gid>
%s: 相当于导致dump的信号的数字
%t: 相当于dump的时间
%h: 相当于hostname
%e: 相当于执行文件的名称

#3 每次开机生效

• gdb 与vscode

{
    // 推荐方式1和方式3
    // stopAtEntry 进入默认打断点
    "version": "0.2.0",
    "configurations": [
        
        {
            "name": "(gdb) 启动",
            "type": "cppdbg",
            "request": "launch",
            // "program": "/data/path/work/YOUR_EXEC_NAME",
            "program": "/data/path/work/YOUR_EXEC_NAME",
            "args": ["/data/path/world/xxx.sqlite", "49", "/data/path/work/xx.file", "1", "112.57501644,26.82793034"],
            "stopAtEntry": false,
            "cwd": "${fileDirname}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "为 gdb 启用整齐打印",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                },
                {
                    "description":  "将反汇编风格设置为 Intel",
                    "text": "-gdb-set disassembly-flavor intel",
                    "ignoreFailures": true
                }
            ]
        },
        {
            "name": "(gdb) 启动",
            "type": "cppdbg",
            "request": "launch",
            "program": "/data/path/work/YOUR_EXEC_NAME",
            "args": [""/data/path/world/xxx.sqlite", "49", "/data/path/work/xx.file", "1", "112.57501644,26.82793034"],
            "stopAtEntry": false,
            "cwd": "${fileDirname}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "为 gdb 启用整齐打印",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                },
                {
                    "description":  "将反汇编风格设置为 Intel",
                    "text": "-gdb-set disassembly-flavor intel",
                    "ignoreFailures": true
                }
            ]
        },
        {
            "name": "ROS Launch",
            "type": "ros",
            "request": "launch",
            "target": "/home/xxxxx/catkin_ws/src/xxx_pkg/launch/xxx.launch"
        }
    ]
}

设置条件断点

watch 监听

call stack  0 是最近的

鼠标悬停打印变量

• ros launch 添加标签

<node name="xxx" pkg="xxx" type="xxx" output="screen" launch-prefix="gdb -ex run --args"/>

preLaunchTask

### task.json
{
    "tasks": [
        {
            "type": "shell",
            "label": "catkin build",
            "command": "cd /home/xxx/xxx/ && source install/setup.bash && catkin_make -DROS=1 install",
            // "args": [
            //     "-DCMAKE_BUILD_TYPE=Debug",
            //     "-DCATKIN_WHITELIST_PACKAGES=hello_world_node"
            // ],
            "group": {
                "kind": "build",
                "isDefault": true
            },
            "detail": "ros build"
        },
        {
            "label": "runscript",
            "type": "shell",
            "command": "cd /home/xxx/xxx/install/ && source set_envxxx.sh && env | head -n -1 > /home/xxx/xxx/install/temp_launch.env",
            // "args": ["/home/xxx/install/set_env.sh"],
            "group": {
                "kind": "build",
                "isDefault": true
            }
        },
        {
            "label": "change_dir",
            "type": "shell",
            "command": "cd /home/xxx/xxx/install",
            // "args": ["/home/xxx/install/set_env.sh"],
            "group": {
                "kind": "build",
                "isDefault": false
            }
        },
    ],
    "version": "2.0.0"
}

{
    // stopAtEntry 进入默认打断点
    "version": "0.2.0",
    "configurations": [

        {
            "name": "gdb_xxx_planner",
            "type": "cppdbg",
            "request": "launch",
            // "program": "/home/xxx/xxx/install/bin/xxx",
            "program": "${workspaceRoot}/../install/bin/xxx",
            "args": [],
            "stopAtEntry": false,
            "cwd": "/home/xxx/xxx/install",
            "environment": [
                {
                    "name": "LD_LIBRARY_PATH",
                    "value": "${LD_LIBRARY_PATH}:/home/xxx/xxx/install/lib:/home/xxx/xxx/install/lib/xxx/opengl/lib"
                    // "value": "${LD_LIBRARY_PATH}:/home/xxx/xxx/install/lib:/home/xxx/xxx/install/lib/xxx/opencv33/lib:/home/xxx/xxx/install/lib/xxx/xxx/lib"
                }
            ],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "为 gdb 启用整齐打印",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ],
            "preLaunchTask": "change_dir"
            // "envFile": "/home/xxx/xx/install/temp_launch.env",
        }

    ]
}