# 仿真调试

当模拟在主机上运行时，所有桌面开发工具都可用。

# CLANG Address Sanitizer (Mac OS, Linux)

The Clang address sanitizer can help to find alignment (bus) errors and other memory faults like segmentation faults. The command below sets the right compile options. 下面的命令设置了正确的编译选项。

make clean # 仅需在常规编译后，第一次运行 address sanitizer 时使用
PX4_ASAN=1 make px4_sitl jmavsim

# Valgrind

brew install valgrind

或

sudo apt-get install valgrind

SITL can be launched with and without debugger attached and with either jMAVSim or Gazebo as simulation backend. This results in the start options below:

make px4_sitl_default   # 通过 cmake 配置
make -C build/px4_sitl_default jmavsim___gdb

# 开始组合

SITL 可以在附加调试器的情况下启动，也可以不附加调试器，并将 jMAVSim 或 Gazebo 作为模拟后端。这将生成以下开始选项：

make px4_sitl_default jmavsim
make px4_sitl_default jmavsim___gdb
make px4_sitl_default jmavsim___lldb
make px4_sitl_default gazebo
make px4_sitl_default gazebo___gdb
make px4_sitl_default gazebo___lldb

where the last parameter is the <viewer_model_debugger> triplet (using three underscores implies the default 'iris' model). This will start the debugger and launch the SITL application. In order to break into the debugger shell and halt the execution, hit CTRL-C: 这将启动调试器并启动 SITL 应用程序。 In order to break into the debugger shell and halt the execution, hit CTRL-C:

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:

(lldb) process handle SIGCONT -n false -p false -s false

或者在 GDB 下：

(gdb) handle SIGCONT noprint nostop

之后，lldb 或 gdb 脚本的行为类似于正常会话，请参阅 ldb/gdbb 文档。

最后一个参数, <viewer_model_debugger> 三元组，实际上是传递到生成目录中，因此

make px4_sitl_default jmavsim___gdb

等价于

make px4_sitl_default   # 通过 cmake 配置
make -C build/px4_sitl_default jmavsim___gdb

but for your convenience, a list with just the <viewer_model_debugger> triplets is printed with the command

make help

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.

make list_vmd_make_targets

# 编译器优化

配置 posix_sitl_*时，对可执行文件和/或模块进行优化编译器选项（比如用 cmake 添加add_executable 或 add_library ），是种可以采取的手段。当需要使用调试器或打印变量逐步执行代码时，这将非常方便，否则这些变量将被优化。

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_*. 当配置为't posix_sitl_* 时，将忽略此环境变量。

would suppress optimization of the targets: platforms*_posixpx4_layer, modulessystemlib, modulesuORB, examplespx4_simple_app, modules**uORB*_uORB_tests and px4.

export PX4_NO_OPTIMIZATION='px4;^modules__uORB;^modules__systemlib$'

The targets that can be matched with these regular expressions can be printed with the command:

可以与这些正则表达式匹配的目标可以用命令打印想出来：

make -C build/posix_sitl_* list_cmake_targets

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