目录

安装docker engine

初始化docker 环境

检查docker 环境是否启动

安装vscode docker相关环境

进入docker

安装 docker 下的vscode 插件

配置docker 下vscode debug 环境

开始debug

因为apollo 中bazel 的环境依赖主要设置的是本地link，因此如果想在host 机器上搭建cyberRT 的debug 环境会很麻烦，这里主要讲的是在docker环境下的debug，效果和在host 下搭建一致。

安装docker engine

Install Docker Engine on Ubuntu

初始化docker 环境

bash apollo/docker/scripts/dev_start.sh   

检查docker 环境是否启动

docker ps

安装vscode docker相关环境

进入docker

在vscode 插件中找到容器

选择attach vscode

选择前面创建好的容器进入

成功进入docker 容器内部，可以并且可以看到挂载进来的代码文件

安装 docker 下的vscode 插件

配置docker 下vscode debug 环境

找到.vsocde

创建launch.json

我这里使用的是gdb，如果你也是使用gcc/g++编译器就不需要改下面的配置，如果是使用llvm，那需要把gdb改成lldb

{// Use IntelliSense to learn about possible attributes.// Hover to view descriptions of existing attributes.// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387"version": "0.2.0","configurations": [{"name": "(gdb) Launch Run","preLaunchTask": "Bazel Build (Run)","type": "cppdbg","request": "launch","program": "${workspaceFolder}/bazel-bin/${relativeFileDirname}/${fileBasenameNoExtension}","args": [],"stopAtEntry": false,"cwd": "${workspaceFolder}","environment": [],"externalConsole": false,"MIMode": "gdb"},{"name": "(gdb) Launch Run Opt","preLaunchTask": "Bazel Build (Run Opt)","type": "cppdbg","request": "launch","program": "${workspaceFolder}/bazel-bin/${relativeFileDirname}/${fileBasenameNoExtension}","args": [],"stopAtEntry": false,"cwd": "${workspaceFolder}","environment": [],"externalConsole": false,"MIMode": "gdb"},{"name": "(gdb) Launch Debug","preLaunchTask": "Bazel Build (Debug)","type": "cppdbg","request": "launch","program": "${workspaceFolder}/bazel-bin/${relativeFileDirname}/${fileBasenameNoExtension}","args": [],"stopAtEntry": false,"cwd": "${workspaceFolder}","environment": [],"externalConsole": false,"MIMode": "gdb"},{"preLaunchTask": "Bazel Build (Debug)","name": "Codegdb","type": "gdb","request": "launch","program": "${workspaceFolder}/bazel-bin/${relativeFileDirname}/${fileBasenameNoExtension}","args": [],"sourceMap": {".": "${workspaceFolder}"},},{"name": "Linux: g++ build and debug active file","type": "cppdbg","request": "launch","program": "${workspaceFolder}/bazel-bin/${relativeFileDirname}/${fileBasenameNoExtension}","args": [],"stopAtEntry": false,"cwd": "${workspaceFolder}","environment": [],"externalConsole": false,"MIMode": "gdb","setupCommands": [{"description": "Enable pretty-printing for gdb","text": "-enable-pretty-printing","ignoreFailures": true}],"preLaunchTask": "Bazel Build (Debug)","miDebuggerPath": "/usr/bin/gdb"}]}

创建tasks.json

{"version": "2.0.0","tasks": [{"label": "Bazel Build (Debug)","type": "shell","command": "bazel  build --cxxopt='-std=c++17' ${relativeFileDirname}:${fileBasenameNoExtension} -c dbg","windows": {"command": "bazel build --cxxopt='-std=c++17' ${relativeFileDirname}:${fileBasenameNoExtension} --experimental_enable_runfiles -c dbg"},"osx": {"command": "bazel build --cxxopt='-std=c++17' ${relativeFileDirname}:${fileBasenameNoExtension} -c dbg --spawn_strategy=local",},"group": {"kind": "build","isDefault": true},},{"label": "Bazel Build (Run)","type": "shell","command": "bazel  build --cxxopt='-std=c++17' ${relativeFileDirname}:${fileBasenameNoExtension}","windows": {"command": "bazel build --cxxopt='-std=c++17' ${relativeFileDirname}:${fileBasenameNoExtension}"},"osx": {"command": "bazel build --cxxopt='-std=c++17' ${relativeFileDirname}:${fileBasenameNoExtension}",},"group": {"kind": "build","isDefault": true},},{"label": "Bazel Build (Run Opt)","type": "shell","command": "bazel  build --cxxopt='-std=c++17' ${relativeFileDirname}:${fileBasenameNoExtension} -c opt","windows": {"command": "bazel build --cxxopt='-std=c++17' ${relativeFileDirname}:${fileBasenameNoExtension} -c opt"},"osx": {"command": "bazel build --cxxopt='-std=c++17' ${relativeFileDirname}:${fileBasenameNoExtension} -c opt",},"group": {"kind": "build","isDefault": true},}]}

开始debug

打开cyberRT下面的一个测试文件夹

cd /apollo/cyber/example

打开talker.cc, 随意加两个断点，然后按F5