Add remote debugging capabilities

.devcontainer.json

@@ -3,15 +3,22 @@
     "customizations": {
         "vscode": {
             "extensions": [
-                "ms-vscode.cpptools"
+                "ms-vscode.cpptools",
+                "marus25.cortex-debug"
             ]
         }
     },
+    "features": {
+        "ghcr.io/devcontainers/features/common-utils:2": {
+            "configureZshAsDefaultShell": true
+        }
+    },
+    "postCreateCommand": "zsh -c '. ~/.oh-my-zsh/lib/cli.zsh && omz theme set frontcube'",
     "runArgs": [
         // Ensure our workspace gets mounted under the non-root user (podman)
         "--userns=keep-id:uid=1000,gid=1000",
         // Disable SELinux labeling (see https://docs.podman.io/en/latest/markdown/podman-run.1.html#volume-v-source-volume-host-dir-container-dir-options)
         "--security-opt",
         "label=disable"
     ]
-}
+}

.vscode/launch.json

@@ -6,13 +6,30 @@
       "type": "cortex-debug",
       "request": "launch",
       "servertype": "openocd",
+      "configFiles": [
+        "ut-robomaster/openocd.cfg"
+      ],
       "cwd": "${workspaceRoot}",
-      "preLaunchTask": "Flash - Debug",
-      "executable": "./ut-robomaster/build/hardware/scons-debug/ut-robomaster.elf",
+      "preLaunchTask": "Build - Debug",
+      "executable": "ut-robomaster/build/hardware/scons-debug/ut-robomaster.elf",
       "device": "STM32F427II",
-      "configFiles": [
-        "./ut-robomaster/openocd.cfg"
-      ]
-    }
+      "liveWatch": {
+        "enabled": true,
+        "samplesPerSecond": 10
+      },
+      "rttConfig": {
+        "enabled": true,
+        "address": "auto",
+        "decoders": [
+          {
+            "port": 0,
+            "type": "console"
+          }
+        ]
+      },
+      "postResetCommands": [
+        "monitor rtt start"
+      ],
+    },
   ]
 }

.vscode/settings.json

@@ -74,12 +74,16 @@
     "SConscript": "python",
     "stop_token": "cpp",
     "cassert": "cpp",
+    "string.h": "c",
     "bit": "cpp",
     "compare": "cpp",
     "concepts": "cpp",
     "numbers": "cpp",
     "ranges": "cpp",
-    "span": "cpp"
+    "span": "cpp",
+    "stdlib.h": "c",
+    "stdarg.h": "c",
+    "reent.h": "c"
   },
   "C_Cpp.errorSquiggles": "enabled",
   "C_Cpp.default.includePath": [
@@ -98,5 +102,7 @@
     "editor.rulers": [
       100
     ]
-  }
+  },
+  "remote.autoForwardPorts": false,
+  "cortex-debug.variableUseNaturalFormat": true,
 }

.vscode/tasks.json

@@ -18,30 +18,26 @@
         {
             "label": "Build - Release",
             "type": "shell",
-            "command": "scons build robot=${input:robot} ",
+            "command": "scons build robot=${input:robot}",
             "group": "build",
             "options": {
                 "cwd": "${workspaceRoot}/ut-robomaster"
             }
         },
         {
-            "label": "Flash - Debug",
+            "label": "Connect to Remote Debugger",
             "type": "shell",
-            "command": "scons run robot=${input:robot} profile=debug profiling=true",
-            "group": "build",
-            "options": {
-                "cwd": "${workspaceRoot}/ut-robomaster"
+            "command": "ssh -L 7184:localhost:7184 ${input:debug_dest}",
+            "problemMatcher": [],
+            "isBackground": true,
+            "presentation": {
+                "echo": true,
+                "focus": true,
+                "panel": "dedicated",
+                "showReuseMessage": false,
+                "clear": false
             }
-        },
-        {
-            "label": "Flash - Release",
-            "type": "shell",
-            "command": "scons run robot=${input:robot}",
-            "group": "build",
-            "options": {
-                "cwd": "${workspaceRoot}/ut-robomaster"
-            }
-        },
+        }
     ],
     "inputs": [
         {
@@ -55,5 +51,11 @@
             ],
             "default": "standard"
         },
+        {
+            "id": "debug_dest",
+            "description": "Remote destination (SSH):",
+            "type": "promptString",
+            "default": ""
+        },
     ]
 }

Containerfile

@@ -11,16 +11,12 @@ RUN apt-get update -qq \
     && rm -rf /var/lib/apt/lists/*
 
 RUN ARCH=$(uname -m) \
-    URL=https://developer.arm.com/-/media/Files/downloads/gnu-rm/${ARM_GCC_VERSION}/gcc-arm-none-eabi-${ARM_GCC_VERSION}-${ARCH}-linux.tar.bz2 \
-    && wget -qO- $URL | tar xj \
-    && mv gcc-arm-none-eabi-${ARM_GCC_VERSION} gcc-arm
+    URL="https://developer.arm.com/-/media/Files/downloads/gnu-rm/${ARM_GCC_VERSION}/gcc-arm-none-eabi-${ARM_GCC_VERSION}-${ARCH}-linux.tar.bz2" \
+    && mkdir gcc-arm \
+    && wget -qO- "$URL" | tar xj --strip-components=1 -C gcc-arm
 
 # Main stage
-FROM ubuntu:22.04
-
-ARG USERNAME=dev
-ARG USER_UID=1000
-ARG USER_GID=$USER_UID
+FROM ubuntu:24.04
 
 COPY --from=gcc-arm /gcc-arm /gcc-arm
 ENV PATH="/gcc-arm/bin:$PATH"
@@ -30,21 +26,21 @@ RUN apt-get update -qq \
     bash-completion \
     doxygen \
     git \
-    libncurses5 \
+    libncurses6 \
     nano \
     openocd \
+    openssh-client \
     python3-pip \
-    scons \
+    python-is-python3 \
     sudo \
     && rm -rf /var/lib/apt/lists/*
 
-# Setup non-root user
-RUN groupadd --gid $USER_GID $USERNAME \
-    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME -s /usr/bin/bash \
-    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
-    && chmod 0440 /etc/sudoers.d/$USERNAME
-WORKDIR /home/$USERNAME
-USER $USERNAME
+# Create symlinks for old GCC compilers
+RUN cd /usr/lib/x86_64-linux-gnu \
+    && ln -s libncurses.so.6.4 libncurses.so.5 \
+    && ln -s libtinfo.so.6.4 libtinfo.so.5
 
 # Install tools (user-space)
-RUN pip3 install lbuild pyelftools modm
+USER ubuntu
+# --break-system-packages is fine because we are not installing these through apt
+RUN pip3 install lbuild pyelftools modm scons==3.1.2 --break-system-packages

ut-robomaster/SConstruct

@@ -24,6 +24,10 @@ IGNORED_FILES_WHILE_TESTING = ["src/main.cpp"]
 
 # Parse and validate arguments
 args = parse_args.parse_args()
+c_flags = [args["ROBOT_TYPE"]]
+
+if args["DEMO_MODE"] == "true":
+    c_flags.append("DEMO_MODE")
 
 
 def _get_hosted_target_name_for_current_platform():
@@ -59,7 +63,7 @@ sources = []
 # Building all libraries (read from sconscript files located in provided dirs)
 # Ensure that modm is first, since Taproot depends on modm
 # Append include path to environment so both src/test environments have access to them
-env.SConscript(dirs=[TAPROOT_PATH, SRC_PATH, TEST_PATH], exports=["env", "args", "sources"])
+env.SConscript(dirs=[TAPROOT_PATH, SRC_PATH, TEST_PATH], exports=["env", "args", "c_flags", "sources"])
 
 
 # Tests must be included as sources (rather than built as a separate library) in order for
@@ -70,7 +74,7 @@ if args["TARGET_ENV"] == "tests":
 
 
 print("Configured {0} parallel build jobs (-j{0}), {1}"
-    .format(GetOption("num_jobs"), args["ROBOT_TYPE"]))
+    .format(GetOption("num_jobs"), c_flags))
 
 
 if args["TARGET_ENV"] == "hardware":

ut-robomaster/build_tools/parse_args.py

@@ -6,12 +6,12 @@
 SIM_BUILD_TARGET_ACCEPTED_ARGS      = ["build-sim", "run-sim"]
 HARDWARE_BUILD_TARGET_ACCEPTED_ARGS = ["build", "run", "size", "gdb", "all"]
 VALID_BUILD_PROFILES                = ["debug", "release", "fast"]
-VALID_PROFILING_TYPES               = ["true", "false"]
+VALID_BOOL_TYPES                    = ["true", "false"]
 ROBOT_TYPE_DEFINES                  = {"standard": "TARGET_STANDARD",
                                        "hero": "TARGET_HERO",
                                        "sentry": "TARGET_SENTRY"}
 
-USAGE = "Usage: scons <target> robot=<standard|hero|sentry> [profile=<debug|release|fast>] [profiling=<true|false>]\n\
+USAGE = "Usage: scons <target> robot=<standard|hero|sentry> [profile=<debug|release|fast>] [profiling=<true|false>] [demo=<true|false>]\n\
     \"<target>\" is one of:\n\
         - \"build\": build all code for the hardware platform.\n\
         - \"run\": build all code for the hardware platform, and deploy it to the board via a connected ST-Link.\n\
@@ -32,6 +32,7 @@ def parse_args():
         "BUILD_PROFILE": "",
         "PROFILING": "",
         "ROBOT_TYPE": "",
+        "DEMO_MODE": "",
     }
     if len(COMMAND_LINE_TARGETS) > CMD_LINE_ARGS:
         throw_error("You entered too many arguments.")
@@ -68,7 +69,11 @@ def parse_args():
         throw_error("You specified an invalid build profile.")
 
     args["PROFILING"] = ARGUMENTS.get("profiling", "false")
-    if args["PROFILING"] not in VALID_PROFILING_TYPES:
-        throw_error("You specified an invalid profiling type.")
+    if args["PROFILING"] not in VALID_BOOL_TYPES:
+        throw_error("You specified an invalid profiling setting.")
+
+    args["DEMO_MODE"] = ARGUMENTS.get("demo", "false")
+    if args["DEMO_MODE"] not in VALID_BOOL_TYPES:
+        throw_error("You specified an invalid demo setting.")
 
     return args

ut-robomaster/openocd.cfg

@@ -1,4 +1,5 @@
 source [find interface/stlink.cfg]
+hla_stlink_backend tcp 7184
 
 transport select hla_swd
 
@@ -9,3 +10,5 @@ source [find target/stm32f4x.cfg]
 
 reset_config none
 
+# bindto 0.0.0.0
+# gdb_port 3333

ut-robomaster/src/SConscript

@@ -2,6 +2,7 @@ from os.path import abspath
 
 Import("env")
 Import("args")
+Import("c_flags")
 Import("sources")
 
 
@@ -16,8 +17,8 @@ if args["TARGET_ENV"] == "tests":
 
 env_cpy = env.Clone()
 
-# Append on the global robot target build flag
-env_cpy.AppendUnique(CCFLAGS=["-D " + args["ROBOT_TYPE"]])
+# Append global build flags
+env_cpy.AppendUnique(CCFLAGS=[f"-D {x}" for x in c_flags])
 
 ignored_files.append("main_src_not_compiled.cpp")
 rawSrcs = env_cpy.FindSourceFiles(".", ignorePaths=ignored_dirs, ignoreFiles=ignored_files)

ut-robomaster/src/communication/rtt.hpp

@@ -0,0 +1,17 @@
+#include <stdio.h>
+
+#include "rtt/SEGGER_RTT.h"
+
+int printf_rtt(const char* fmt, ...)
+{
+    int r;
+    char data[64];
+    va_list params;
+
+    va_start(params, fmt);
+    r = vsnprintf(data, 64, fmt, params);
+    va_end(params);
+
+    SEGGER_RTT_Write(0, data, r);
+    return r;
+}

ut-robomaster/src/communication/rtt/LICENSE.md

@@ -0,0 +1,36 @@
+
+                    SEGGER Microcontroller GmbH
+                       The Embedded Experts
+
+           (c) 1995 - 2021 SEGGER Microcontroller GmbH
+          www.segger.com     Support: [email protected]
+
+        SEGGER RTT  Real Time Transfer for embedded targets
+
+
+    All rights reserved.
+
+    SEGGER strongly recommends to not make any changes
+    to or modify the source code of this software in order to stay
+    compatible with the RTT protocol and J-Link.
+
+    Redistribution and use in source and binary forms, with or
+    without modification, are permitted provided that the following
+    condition is met:
+
+    - Redistributions of source code must retain the above copyright
+     notice, this condition and the following disclaimer.
+
+    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+    CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+    INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+    MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+    DISCLAIMED. IN NO EVENT SHALL SEGGER Microcontroller BE LIABLE FOR
+    ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+    CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+    OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+    OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+    LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+    (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
+    USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+    DAMAGE.