vscode: support entering debug mode with F5 key in VSCode.

.vscode/launch.json

@@ -5,10 +5,17 @@
         "name": "C++ Launch",
         "type": "cppdbg",
         "request": "launch",
-        // you can change the "planning" to your module name.  
+        // You can change the "planning" to your module name, but it should be 
+        // same as in gdbserver of the docker container. 
         "program": "${workspaceRoot}/bazel-bin/modules/planning/planning",
-        // you can change "localhost:1111" to another "IP:port" name. 
+        // You can change "localhost:1111" to another "IP:port" name, but it 
+        // should be same as in gdbserver of the docker container.  
         "miDebuggerServerAddress": "localhost:1111",
+        // You can change the task to meet your demands in the 
+        // ".vscode/tasks.json" file (search the label:  
+        // "start the gdbserver in the ocker", but the module name and the port 
+        // number should be consistent with this file.        
+        "preLaunchTask": "start gdbserver",
         "args": [],
         "stopAtEntry": false,
         "cwd": "${workspaceRoot}",

.vscode/tasks.json

@@ -92,6 +92,27 @@
                     "message": 5
                 }
             }
+        },
+        {
+            "label": "start gdbserver",
+            "type": "shell",
+            // you can change the "planning" module name to another one and 
+            // change the "1111" to another port number.
+            // Note: the module name and port number should be same as in 
+            // the "launch.json" file. 
+            "command": "bash docker/scripts/dev_start_gdb_server.sh planning 1111",            
+            "isBackground": true,
+            "problemMatcher": {
+                "owner": "custom",
+                "pattern": {
+                    "regexp": "__________"
+                },
+                "background": { 
+                    "activeOnStart": true,
+                    "beginsPattern": "^Listening on port$",
+                    "endsPattern": "^$"
+                }
+            }                           
         }
     ]
 }
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docker/scripts/dev_start_gdb_server.sh

+#!/usr/bin/env bash
+
+###############################################################################
+# Copyright 2017 The Apollo Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+###############################################################################
+
+function check_docker_open() {
+  docker ps --format "{{.Names}}" | grep apollo_dev 1>/dev/null 2>&1
+  if [ $? != 0 ]; then       
+    echo "The docker is not started, please start it first. "  
+    exit 1  
+  fi
+}
+
+function print_usage() {
+  RED='\033[0;31m'
+  BLUE='\033[0;34m'
+  BOLD='\033[1m'
+  NONE='\033[0m'
+
+  echo -e "\n${RED}Usage${NONE}:
+  .${BOLD}/dev_debug_server.sh${NONE} MODULE_NAME PORT_NUMBER"
+
+  echo -e "${RED}MODULE_NAME${NONE}:
+  ${BLUE}planning${NONE}: debug the planning module. 
+  ${BLUE}control${NONE}: debug the control module.
+  ${BLUE}routing${NONE}: debug the routing module.
+  ..., and so on."
+
+  echo -e "${RED}PORT_NUMBER${NONE}: 
+  ${NONE}a port number, such as '1111'."
+}
+
+if [ $# -lt 2 ];then
+    print_usage
+    exit 1
+fi
+
+check_docker_open
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+cd "${DIR}/../.."
+pwd
+
+xhost +local:root 1>/dev/null 2>&1
+#echo $@
+docker exec \
+    -u $USER \
+    -it apollo_dev \
+    /bin/bash scripts/start_gdb_server.sh $@
+xhost -local:root 1>/dev/null 2>&1

scripts/start_gdb_server.sh

+#!/usr/bin/env bash
+
+###############################################################################
+# Copyright 2017 The Apollo Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+###############################################################################
+
+function print_usage() {
+  RED='\033[0;31m'
+  BLUE='\033[0;34m'
+  BOLD='\033[1m'
+  NONE='\033[0m'
+
+  echo -e "\n${RED}Usage${NONE}:
+  .${BOLD}/start_gdb_server.sh${NONE} MODULE_NAME PORT_NUMBER"
+
+  echo -e "${RED}MODULE_NAME${NONE}:
+  ${BLUE}planning${NONE}: debug the planning module. 
+  ${BLUE}control${NONE}: debug the control module.
+  ${BLUE}routing${NONE}: debug the routing module.
+  ..., and so on."
+
+  echo -e "${RED}PORT_NUMBER${NONE}: 
+  ${NONE}a port number, such as '1111'."
+}
+
+if [ $# -lt 2 ];then
+    print_usage
+    exit 1
+fi
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+source "${DIR}/apollo_base.sh"
+
+MODULE_NAME=$1
+PORT_NUM=$2
+shift 2
+
+# If there is a gdbserver process running, stop it first. 
+GDBSERVER_NUMS=$(pgrep -c -x "gdbserver")
+if [ ${GDBSERVER_NUMS} -ne 0 ]; then
+  sudo pkill -f "gdbserver"
+fi
+
+# Because the "grep ${MODULE_NAME}" always generates a process with the name of 
+# "${MODULE_NAME}", I added another grep to remove grep itself from the output.
+# The following command got a wrong result and I can't find the reason. 
+#PROCESS_ID=$(ps -eo pid,command | grep "${MODULE_NAME}" | grep -v "grep" | awk '{print $1}')
+# This one is OK.
+PROCESS_ID=$(pgrep -o -x "${MODULE_NAME}")
+#echo ${PROCESS_ID}
+
+# If the moudle is not started, start it first. 
+if [ -z ${PROCESS_ID} ]; then       
+  #echo "The '${MODULE_NAME}' module is not started, please start it in the dreamview first. "  
+  #exit 1 
+
+  # run function from apollo_base.sh
+  # run command_name module_name
+  run ${MODULE_NAME} "$@"
+
+  PROCESS_ID=$(pgrep -o -x "${MODULE_NAME}")
+fi 
+
+sudo gdbserver :${PORT_NUM} --attach ${PROCESS_ID}
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