From c3869388390ce7121312c7e3e3d7fcc82b7ea7f1 Mon Sep 17 00:00:00 2001
From: Azarakhsh Keipour <keipour@gmail.com>
Date: Sat, 28 Dec 2019 14:44:15 -0500
Subject: [PATCH] VSCode: Autogenerating launch.json entry for the tilted_hex
 gazebo simulation

- Couldn't make the recent changes in tasks from master branch work, so:
	- Added gzclient to the command for gazebo tiltedhex and gazebo kill tasks
	- Also used the desired presentation for the gazebo tiltedhex task
---
 .vscode/tasks.json                       | 78 +++++++++++-------------
 platforms/posix/Debug/launch_sim.json.in | 49 +++++++++++++++
 2 files changed, 86 insertions(+), 41 deletions(-)

diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index ab7f5c98f1..656a3973fa 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -129,6 +129,42 @@
                 }
             ]
         },
+        {
+            "label": "gazebo hexa_x_tilt",
+            "type": "shell",
+            "dependsOn": "gazebo build",
+            "options": {
+                "cwd": "${workspaceRoot}",
+                "env": {
+                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
+            },
+            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/hexa_x_tilt.world & gzclient",
+            "isBackground": true,
+            "presentation": {
+                "reveal": "always",
+                "panel": "dedicated"
+            },
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
+        },
         {
             "label": "gazebo plane",
             "type": "shell",
@@ -289,50 +325,10 @@
                 }
             ]
         },
-        {
-            "label": "gazebo hexa_x_tilt",
-            "type": "shell",
-            "dependsOn": "gazebo build",
-            "options": {
-                "cwd": "${workspaceRoot}",
-                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/hexa_x_tilt.world",
-            "isBackground": true,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": true
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
         {
             "label": "gazebo kill",
             "type": "shell",
-            "command": "killall gzserver",
+            "command": "killall gzserver; killall gzclient",
             "presentation": {
                 "echo": false,
                 "reveal": "never",
diff --git a/platforms/posix/Debug/launch_sim.json.in b/platforms/posix/Debug/launch_sim.json.in
index 762be4e3f7..9ecc27c424 100644
--- a/platforms/posix/Debug/launch_sim.json.in
+++ b/platforms/posix/Debug/launch_sim.json.in
@@ -50,6 +50,55 @@
                 ]
             }
         },
+        {
+            "name": "SITL (gazebo tilthex)",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${command:cmake.launchTargetPath}",
+            "args": [
+                "${workspaceFolder}/ROMFS/px4fmu_common",
+                "-s",
+                "etc/init.d-posix/rcS",
+                "-t",
+                "${workspaceFolder}/test_data"
+            ],
+            "stopAtEntry": false,
+            "cwd": "${command:cmake.buildDirectory}/tmp",
+            "environment": [
+                {
+                    "name": "PX4_SIM_MODEL",
+                    "value": "hexa_x_tilt"
+                }
+            ],
+            "externalConsole": false,
+            "preLaunchTask": "gazebo hexa_x_tilt",
+            "postDebugTask": "gazebo kill",
+            "linux": {
+                "MIMode": "gdb",
+                "externalConsole": false,
+                "setupCommands": [
+                    {
+                        "description": "Enable pretty-printing for gdb",
+                        "text": "-enable-pretty-printing",
+                        "ignoreFailures": true
+                    },
+                    {
+                        "description": "PX4 ignore wq signals",
+                        "text": "handle SIGCONT nostop noprint nopass",
+                        "ignoreFailures": true
+                    }
+                ]
+            },
+            "osx": {
+                "MIMode": "lldb",
+                "externalConsole": true,
+                "setupCommands": [
+                    {
+                        "text": "pro hand -p true -s false -n false SIGCONT",
+                    }
+                ]
+            }
+        },
         {
             "name": "SITL (gazebo plane)",
             "type": "cppdbg",