# 시뮬레이션 디버깅 호스트 시스템에서 시뮬레이션이 실행 중이므로, 데스크탑 개발 도구를 사용할 수 있습니다. ## CLANG 주소 새니타이저(Mac OS, Linux) Clang 주소 새니타이저는 정렬(버스) 오류 및 분할 오류와 같은 기타 메모리 오류를 찾는 데 도움이 됩니다. 아래 명령은 올바른 컴파일 옵션을 설정합니다. ```sh make clean # only required on first address sanitizer run after a normal build PX4_ASAN=1 make px4_sitl jmavsim ``` ## Valgrind ```sh brew install valgrind ``` 또는 ```sh sudo apt-get install valgrind ``` SITL 시뮬레이션 중에 valgrind를 사용하려면: ```sh make px4_sitl_default jmavsim___valgrind ``` ## Launch Gazebo Classic SITL Without Debugger By default SITL is launched without a debugger attached when using any simulator backend: ```sh make px4_sitl_default gz make px4_sitl_default gazebo-classic make px4_sitl_default jmavsim ``` For Gazebo Classic (only) you can also start the simulator with a debugger attached. Note however, that you must provide the vehicle type in the simulator target, as shown below: ```sh make px4_sitl_default gazebo-classic_iris_gdb make px4_sitl_default gazebo-classic_iris_lldb ``` This will start the debugger and launch the SITL application with Gazebo and the Iris simulator. In order to break into the debugger shell and halt the execution, hit `CTRL-C`: ```sh Process 16529 stopped * thread #1: tid = 0x114e6d, 0x00007fff90f4430a libsystem_kernel.dylib`__read_nocancel + 10, name = 'px4', queue = 'com.apple.main-thread', stop reason = signal SIGSTOP frame #0: 0x00007fff90f4430a libsystem_kernel.dylib`__read_nocancel + 10 libsystem_kernel.dylib`__read_nocancel: -> 0x7fff90f4430a <+10>: jae 0x7fff90f44314 ; <+20> 0x7fff90f4430c <+12>: movq %rax, %rdi 0x7fff90f4430f <+15>: jmp 0x7fff90f3fc53 ; cerror_nocancel 0x7fff90f44314 <+20>: retq (lldb) ``` In order to not have the DriverFrameworks scheduling interfere with the debugging session `SIGCONT` should be masked in LLDB and GDB: ```sh (lldb) process handle SIGCONT -n false -p false -s false ``` 또는 GDB의 경우: ```sh (gdb) handle SIGCONT noprint nostop ``` 그 후 lldb 또는 gdb 셸은 일반 세션처럼 작동합니다. LLDB/GDB 문서를 참고하십시오. The last parameter, the <viewer_model_debugger> triplet, is actually passed to make in the build directory, so ```sh make px4_sitl_default gazebo-classic_iris_gdb ``` 명령은 다음 명령과 같습니다. ```sh make px4_sitl_default # Configure with cmake make -C build/px4_sitl_default classic_iris_gdb ``` A full list of the available make targets in the build directory can be obtained with: ```sh make help ``` ## Attaching GDB to running SITL You can also start your simulation, and _then_ attach `gdb`: 1. In one terminal screen enter the command to start your simulation: ```sh make px4_sitl_default gazebo-classic ``` As the script runs, note the **SITL COMMAND:** output text located right above the large "PX4" text. It will list the location of your px4 bin file for later use. ```sh SITL COMMAND: "" ""/etc ______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0 INFO [init] found model autostart file as SYS_AUTOSTART=10015 ``` 2. Open another terminal and type: ```sh ps -a ``` You will want to note the PID of the process named "PX4" (In this example it is 14149) ```sh atlas:~/px4/main/PX4-Autopilot$ ps -a PID TTY TIME CMD 1796 tty2 00:01:59 Xorg 1836 tty2 00:00:00 gnome-session-b 14027 pts/1 00:00:00 make 14077 pts/1 00:00:00 sh 14078 pts/1 00:00:00 cmake 14079 pts/1 00:00:00 ninja 14090 pts/1 00:00:00 sh 14091 pts/1 00:00:00 bash 14095 pts/1 00:01:23 gzserver 14149 pts/1 00:02:48 px4 14808 pts/2 00:00:00 ps ``` 3. Then type in the same window ```sh sudo gdb [px4 bin file path (from step 1) here] ``` 예를 들어, ```sh sudo gdb /home/atlas/px4/base/PX4-Autopilot/build/px4_sitl_default/bin/px4 ``` Now, you can attach to the PX4 instance by entering the PID noted in step 2. ```sh attach [PID on px4] ``` You should now have a GDB interface to debug with. ## 컴파일러 최적화 It is possible to suppress compiler optimization for given executables and/or modules (as added by cmake with `add_executable` or `add_library`) when configuring for `posix_sitl_*`. This can be handy when it is necessary to step through code with a debugger or print variables that would otherwise be optimized out. To do so, set the environment variable `PX4_NO_OPTIMIZATION` to be a semi-colon separated list of regular expressions that match the targets that need to be compiled without optimization. This environment variable is ignored when the configuration isn't `posix_sitl_*`. 예를 들어, ```sh export PX4_NO_OPTIMIZATION='px4;^modules__uORB;^modules__systemlib$' ``` would suppress optimization of the targets: platforms\_\_posix\_\_px4_layer, modules\_\_systemlib, modules\_\_uORB, examples\_\_px4_simple_app, modules\_\_uORB\_\_uORB_tests and px4. The targets that can be matched with these regular expressions can be printed with the command: ```sh make -C build/posix_sitl_* list_cmake_targets ```