The Apollo project runs in Docker and cannot be used directly on the host machine. It must be created in Docker with GDBServer. Debug the service process, and then use GDB to connect to the debug service process in Docker on the host machine. The specific operation methods are as follows:
The Apollo project runs in Docker and cannot be used directly on the host
machine. It must be created in Docker with GDBServer. Debug the service process,
and then use GDB to connect to the debug service process in Docker on the host
machine. The specific operation methods are as follows:
### Prerequisites
The main prerequisites contain collecting debugging information and installing the GDBServer if it is not already present in Docker
The main prerequisites contain collecting debugging information and installing
the GDBServer if it is not already present in Docker
#### Collecting debugging information
When compiling Apollo projects, you will need to use debugging information options **build_dbg**. Optimization options such as **build_opt** or **build_opt_gpu** cannot be used.
When compiling Apollo projects, you will need to use debugging information
options **build_dbg**. Optimization options such as **build_opt** or
**build_opt_gpu** cannot be used.
#### Install GDBServer inside Docker
After entering Docker, you can use the following command to view if the GDBServer is present:
After entering Docker, you can use the following command to view if the
GDBServer is present:
```bash
```bash
gdbserver --version
```
If the prompt is similar to the following information:
```
```bash
GNU gdbserver (Ubuntu 8.1-0ubuntu3.2) 8.1.0.20180409-git
Copyright (C) 2018 Free Software Foundation, Inc.
gdbserver is free software, covered by the GNU General Public License.
This gdbserver was configured as "x86_64-linux-gnu"
```
It means that GDBServer has been installed inside Docker. You should be able to view the prompt below. But if the GDBServer is not present and if you are prompted with the following information:
It means that GDBServer has been installed inside Docker. You should be able to
view the prompt below. But if the GDBServer is not present and if you are
prompted with the following information:
```
```bash
bash: gdbserver: command not found
```
Then you would need to install the GDBServer using
Then you would need to install the GDBServer using
```bash
sudo apt-get -y update
...
...
@@ -45,7 +55,7 @@ sudo apt-get install gdbserver
Go to Docker and start Dreamview. The command is as follows:
```
```bash
cd${APOLLO_ROOT_DIR}
# If Docker is not started, start it first, otherwise ignore this step
Start the module to be debugged, either by using the command line or by using
the Dreamview interface. The following is an example of debugging the
**Planning** module from the Dreamview interface.
Start the module to be debugged, either by using the command line or by using the Dreamview interface. The following is an example of debugging the **Planning** module from the Dreamview interface. Open Chrome browser, enter the URL: http://localhost:8888/, open the Dreamview interface, open the **SimControl** option, as shown below:
- Open Chrome browser, enter the URL: http://localhost:8888/
- Open the Dreamview interface
- Click on the **SimControl** slider, as shown below:
Click the `Default Routing` tab on the left toolbar, select `Route: Reverse Early Change Lane` or any of these options, send a `Routing Request` request, and generate a global navigation path, as shown below:
- Click the `Default Routing` tab on the left toolbar, select
`Route: Reverse Early Change Lane` or any of these options, send a
`Routing Request` request, and generate a global navigation path, as shown
#### Viewing the "Planning" Process ID
Use the following command to view the "Planning" process ID:
```bash
```bash
ps aux | grep mainboard | grep planning
```
The result in the following figure is similar to the previous figure, you can see that the `Planning` process ID is 4147.
The result in the following figure is similar to the previous figure, you can
see that the `Planning` process ID is 4147.
#### Debugging Planning module using GDBServer
Next we need to carry out our key operations, using GDBServer to additionally debug the `Planning` process, the command is as follows:
Next we need to carry out our key operations, using GDBServer to additionally
debug the `Planning` process, the command is as follows:
```bash
```bash
sudo gdbserver :1111 --attach 4147
```
In the above command, ":1111" indicates that the debugging service process with the port "1111" is enabled, and "4147" indicates the "Planning" process ID. If the result is as shown below, the operation is successful.
During the debugging process, you may encounter the following problems:
During the debugging process, you may encounter the following problems:
#### the network connection is not smooth, can not be debugged
#### Solution
The solution is to ensure the network is smooth, and disable the agent tool
The solution is to ensure the network is smooth, and disable the agent tool
### Remote debugging
During the R&D process, we also need to remotely debug the Apollo project on the industrial computer inside the vehicle, that is, connect the in-vehicle industrial computer with the SSH service on the debugging computer, start the relevant process in the industrial computer, and then perform remote debugging on the debugging computer. The following is an example of debugging the planning module:
During the R&D process, we also need to debug the Apollo project remotely on the
industrial computer inside the vehicle, that is, connect the in-vehicle
industrial computer with the SSH service on the debugging computer, start the
relevant process in the industrial computer, and then perform remote debugging
on the debugging computer. The following is an example of debugging the planning
module:
#### View the IP address of the industrial computer in the car
On the industrial computer in the car, check the IP of the machine by the following command:
On the industrial computer in the car, check the IP of the machine by the
following command:
```bash
```bash
ifconfig
```
#### Open Dreamview in the browser of the debugging computer and start the module to be debugged
Assuming that the IP address of the industrial computer LAN is: 192.168.3.137, open your Chrome or Firefox browser, enter the following URL: http://192.168.3.137:8888/, start the module (`Planning`) to be debugged as shown in [Start the module that needs debugging](#Start-the-module-that-needs-debugging) section
Assuming that the IP address of the industrial computer LAN is: `192.168.3.137`,
open your Chrome or Firefox browser, enter the following URL:
http://192.168.3.137:8888/, start the module (`Planning`) to be debugged as
shown in
[Start the module that needs debugging](#Start-the-module-that-needs-to-be-debugged)
#### Use the SSH Command to Remotely Log In to the Industrial PC and Start the Gdbserver Service of the Industrial PC
Assume that the user name of the industrial computer in the car is `xxxxx`, and the IP address of the LAN is `192.168.3.137`. Use the following command to remotely log in to the industrial computer:
Assume that the user name of the industrial computer in the car is `xxxxx`, and
the IP address of the LAN is `192.168.3.137`. Use the following command to
remotely log in to the industrial computer:
```bash
ssh xxxxx@192.168.3.137
```
After successfully entering the IPC, assume that the Planning module needs to be debugged, and the port number is 1111, use the following command to start the gdbserver service of the in-vehicle IPC:
After successfully entering the IPC, assume that the Planning module needs to be
debugged, and the port number is 1111, use the following command to start the
gdbserver service of the in-vehicle IPC:
```bash
```bash
# Switch to the Apollo project root directory on the industrial computer
