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docker.md: - Update container hierarchy from focal to jammy - Replace ROS Noetic/Foxy references with ROS 2 Humble - Update docker run example to use humble container - Update SITL example from gazebo-classic to gz_x500 - Update VM tested version from Ubuntu 14.04 to 22.04 vscode.md: - Remove "Ubuntu 18.04" from inotify troubleshooting header (this issue is not Ubuntu-version-specific) dev_env_linux_centos.md: - Update GCC warning to reference current Ubuntu LTS toolchain instead of old Focal Docker file Signed-off-by: Ramon Roche <mrpollo@gmail.com>
135 lines
6.5 KiB
Markdown
135 lines
6.5 KiB
Markdown
# Visual Studio Code IDE (VSCode)
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[Visual Studio Code](https://code.visualstudio.com/) is a powerful cross-platform source code editor/IDE that can be used for PX4 development on Ubuntu, Windows, and macOS.
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There are a number of reasons to use VSCode for PX4 development:
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- Getting setup _really_ only takes a few minutes.
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- A rich extension ecosystem that enables a huge range of tools needed for PX4 development: C/C++ (with solid _cmake_ integration), _Python_, _Jinja2_, ROS messages, and even DroneCAN DSDL.
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- Excellent Github integration.
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This topic explains how to setup the IDE and start developing.
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::: info
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There are other powerful IDEs, but they typically take more effort to integrate with PX4.
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With _VScode_, configuration is stored in the PX4/PX4-Autopilot tree ([PX4-Autopilot/.vscode](https://github.com/PX4/PX4-Autopilot/tree/main/.vscode)) so the setup process is as simple as adding the project folder.
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:::
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## Preconditions
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You must already have installed the command line [PX4 developer environment](../dev_setup/dev_env.md) for your platform and downloaded the _Firmware_ source code repo.
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## Installation & Setup
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1. [Download and install VSCode](https://code.visualstudio.com/) (you will be offered the correct version for your OS).
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1. Open VSCode and add the PX4 source code:
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- Select _Open folder ..._ option on the welcome page (or using the menu: **File > Open Folder**):
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- A file selection dialog will appear.
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Select the **PX4-Autopilot** directory and then press **OK**.
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The project files and configuration will then load into _VSCode_.
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1. Press **Install All** on the _This workspace has extension recommendations_ prompt (this will appear on the bottom right of the IDE).
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VSCode will open the _Extensions_ panel on the left hand side so you can watch the progress of installation.
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1. A number of notifications/prompts may appear in the bottom right corner
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:::tip
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If the prompts disappear, click the little "alarm" icon on the right of the bottom blue bar.
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:::
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- If prompted to install a new version of _cmake_:
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- Say **No** (the right version is installed with the [PX4 developer environment](../dev_setup/dev_env.md)).
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- If prompted to sign into _github.com_ and add your credentials:
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- This is up to you! It provides a deep integration between Github and the IDE, which may simplify your workflow.
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- Other prompts are optional, and may be installed if they seem useful. <!-- perhaps add screenshot of these prompts -->
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<a id="building"></a>
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## Building PX4
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To build:
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1. Select your build target ("cmake build config"):
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- The current _cmake build target_ is shown on the blue _config_ bar at the bottom (if this is already your desired target, skip to next step).
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::: info
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The cmake target you select affects the targets offered for when [building/debugging](#debugging) (i.e. for hardware debugging you must select a hardware target like `px4_fmu-v6`).
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:::
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- Click the target on the config bar to display other options, and select the one you want (this will replace any selected target).
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- _Cmake_ will then configure your project (see notification in bottom right).
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- Wait until configuration completes.
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When this is done the notification will disappear and you'll be shown the build location:
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.
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1. You can then kick off a build from the config bar (select either **Build** or **Debug**).
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After building at least once you can now use [code completion](#code completion) and other _VSCode_ features.
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## Debugging
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<a id="debugging_sitl"></a>
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### SITL Debugging
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To debug PX4 on SITL:
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1. Select the debug icon on the sidebar (marked in red) to display the debug panel.
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1. Then choose your debug target (e.g. _Debug SITL (Gazebo Iris)_) from the top bar debug dropdown (purple box).
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::: info
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The debug targets that are offered (purple box) match your build target (yellow box on the bottom bar).
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For example, to debug SITL targets, your build target must include SITL.
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:::
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1. Start debugging by clicking the debug "play" arrow (next to the debug target in the top bar - pink box).
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While debugging you can set breakpoints, step over code, and otherwise develop as normal.
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### Hardware Debugging
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The instructions in [SWD Debug Port](../debug/swd_debug.md) explain how to connect to the SWD interface on common flight controllers (for example, using the Dronecode or Blackmagic probes).
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After connecting to the SWD interface, hardware debugging in VSCode is then the same as for [SITL Debugging](#debugging_sitl) except that you select a debug target appropriate for your debugger type (and firmware) - e.g. `jlink (px4_fmu-v5)`.
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:::tip
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To see the `jlink` option you must have selected a [cmake target for building firmware](#building-px4).
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:::
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<a id="code completion"></a>
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## Code Completion
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In order for the code completion to work (and other IntelliSense magic) you need an active configuration and to have [built the code](#building).
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Once that is done you don't need to do anything else; the toolchain will automatically offer you symbols as you type.
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## Troubleshooting
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This section includes guidance on setup and build errors.
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### "Visual Studio Code is unable to watch for file changes in this large workspace"
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This error surfaces on startup.
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On some systems, there is an upper-limit on file handles imposed on applications, which means that VSCode might not be able to detect file modifications in `/PX4-Autopilot`.
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You can increase this limit to avoid the error, at the expense of memory consumption.
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Follow the [instructions here](https://code.visualstudio.com/docs/setup/linux#_visual-studio-code-is-unable-to-watch-for-file-changes-in-this-large-workspace-error-enospc).
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A value of 65536 should be more than sufficient.
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