VSCode: modified the configuration files to support debugging based o…

…n the CyberRT framework.

.vscode/launch.json

@@ -5,16 +5,14 @@
         "name": "C++ Launch",
         "type": "cppdbg",
         "request": "launch",
-        // You can change the "planning" to your module name, but it should be 
-        // same as those in gdbserver of the docker container. 
-        "program": "${workspaceRoot}/bazel-bin/modules/planning/planning",
+        "program": "${workspaceRoot}/bazel-bin/cyber/mainboard",
         // You can change "localhost:1111" to another "IP:port" name, but it 
         // should be same as those 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 gdbserver"), but the module name and the port 
-        // number should be consistent with this file.        
+        // You can set the name of the module to be debugged in the 
+        // ".vscode/tasks.json" file, for example "planning".
+        // Tips: search the label "start gdbserver" in ".vscode/tasks.json".
+        // The port number should be consistent with this file.        
         "preLaunchTask": "start gdbserver",
         "args": [],
         "stopAtEntry": false,

.vscode/tasks.json

@@ -97,9 +97,8 @@
             "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 those in 
-            // the "launch.json" file. 
+            // change the "1111" to another port number. The port number should 
+            // be same as that in the "launch.json" file. 
             "command": "bash docker/scripts/dev_start_gdb_server.sh planning 1111",            
             "isBackground": true,
             "problemMatcher": {

scripts/start_gdb_server.sh

@@ -53,13 +53,11 @@ if [ ${GDBSERVER_NUMS} -ne 0 ]; then
   sudo pkill -SIGKILL -f "gdbserver"
 fi
 
+echo ${MODULE_NAME}
 # 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 ${PROCESS_ID}
+PROCESS_ID=$(ps -ef | grep "mainboard" | grep "${MODULE_NAME}" | grep -v "grep" | awk '{print $2}')
+echo ${PROCESS_ID}
 
 # If the moudle is not started, start it first. 
 if [ -z ${PROCESS_ID} ]; then       
@@ -70,7 +68,8 @@ if [ -z ${PROCESS_ID} ]; then
   # run command_name module_name
   run ${MODULE_NAME} "$@"
 
-  PROCESS_ID=$(pgrep -o -x "${MODULE_NAME}")
+  PROCESS_ID=$(ps -ef | grep "mainboard" | grep "${MODULE_NAME}" | grep -v "grep" | awk '{print $2}')
+  echo ${PROCESS_ID}
 fi 
 
 sudo gdbserver :${PORT_NUM} --attach ${PROCESS_ID}