Add VSCode configuration

.github/workflows/build.yml

@@ -7,7 +7,7 @@ on:
     branches: [ master ]
 
 jobs:
-  build:
+  build_linux:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
@@ -15,6 +15,8 @@ jobs:
       run: curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh
     - name: Build firmware
       run: make
+    - name: Check c_cpp_properties.json
+      run: tools/check_c_cpp_properties.py
 
   build_macos:
     runs-on: macos-latest
@@ -24,6 +26,8 @@ jobs:
       run: brew install arduino-cli
     - name: Build firmware
       run: make
+    - name: Check c_cpp_properties.json
+      run: tools/check_c_cpp_properties.py
 
   build_windows:
     runs-on: windows-latest
@@ -35,6 +39,8 @@ jobs:
       run: choco install make
     - name: Build firmware
       run: make
+    - name: Check c_cpp_properties.json
+      run: python3 tools/check_c_cpp_properties.py
 
   build_simulator:
     runs-on: ubuntu-latest

.gitignore

@@ -3,3 +3,10 @@
 build/
 tools/log/
 .dependencies
+.vscode/*
+!.vscode/settings.json
+!.vscode/c_cpp_properties.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+!.vscode/intellisense.h

.vscode/c_cpp_properties.json

@@ -0,0 +1,144 @@
+{
+	"configurations": [
+		{
+			"name": "Linux",
+			"includePath": [
+				"${workspaceFolder}/flix",
+				"${workspaceFolder}/gazebo",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.0.3/cores/**",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.0.3/libraries/**",
+				"~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32/**",
+				"~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32/dio_qspi/include",
+				"~/Arduino/libraries/**",
+				"/usr/include/**"
+			],
+			"forcedInclude": [
+				"${workspaceFolder}/.vscode/intellisense.h",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.0.3/cores/esp32/Arduino.h",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.0.3/variants/d1_mini32/pins_arduino.h",
+				"${workspaceFolder}/flix/cli.ino",
+				"${workspaceFolder}/flix/control.ino",
+				"${workspaceFolder}/flix/estimate.ino",
+				"${workspaceFolder}/flix/flix.ino",
+				"${workspaceFolder}/flix/imu.ino",
+				"${workspaceFolder}/flix/led.ino",
+				"${workspaceFolder}/flix/log.ino",
+				"${workspaceFolder}/flix/mavlink.ino",
+				"${workspaceFolder}/flix/motors.ino",
+				"${workspaceFolder}/flix/rc.ino",
+				"${workspaceFolder}/flix/time.ino",
+				"${workspaceFolder}/flix/util.ino",
+				"${workspaceFolder}/flix/wifi.ino"
+			],
+			"compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2302/bin/xtensa-esp32-elf-g++",
+			"cStandard": "c11",
+			"cppStandard": "c++17",
+			"defines": [
+				"F_CPU=240000000L",
+				"ARDUINO=10607",
+				"ARDUINO_D1_MINI32",
+				"ARDUINO_ARCH_ESP32",
+				"ARDUINO_BOARD=D1_MINI32",
+				"ARDUINO_VARIANT=d1_mini32",
+				"ARDUINO_PARTITION_default",
+				"ESP32",
+				"CORE_DEBUG_LEVEL=0",
+				"ARDUINO_USB_CDC_ON_BOOT="
+			]
+		},
+		{
+			"name": "Mac",
+			"includePath": [
+				"${workspaceFolder}/flix",
+				"${workspaceFolder}/gazebo",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.3/cores/esp32",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.3/libraries/**",
+				"~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32/include/**",
+				"~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32/dio_qspi/include",
+				"~/Documents/Arduino/libraries/**",
+				"/opt/homebrew/include/**"
+			],
+			"forcedInclude": [
+				"${workspaceFolder}/.vscode/intellisense.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.3/cores/esp32/Arduino.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.3/variants/d1_mini32/pins_arduino.h",
+				"${workspaceFolder}/flix/flix.ino",
+				"${workspaceFolder}/flix/cli.ino",
+				"${workspaceFolder}/flix/control.ino",
+				"${workspaceFolder}/flix/estimate.ino",
+				"${workspaceFolder}/flix/imu.ino",
+				"${workspaceFolder}/flix/led.ino",
+				"${workspaceFolder}/flix/log.ino",
+				"${workspaceFolder}/flix/mavlink.ino",
+				"${workspaceFolder}/flix/motors.ino",
+				"${workspaceFolder}/flix/rc.ino",
+				"${workspaceFolder}/flix/time.ino",
+				"${workspaceFolder}/flix/util.ino",
+				"${workspaceFolder}/flix/wifi.ino"
+			],
+			"compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2302/bin/xtensa-esp32-elf-g++",
+			"cStandard": "c11",
+			"cppStandard": "c++17",
+			"defines": [
+				"F_CPU=240000000L",
+				"ARDUINO=10607",
+				"ARDUINO_D1_MINI32",
+				"ARDUINO_ARCH_ESP32",
+				"ARDUINO_BOARD=D1_MINI32",
+				"ARDUINO_VARIANT=d1_mini32",
+				"ARDUINO_PARTITION_default",
+				"ARDUINO_FQBN=esp32:esp32:d1_mini32",
+				"ESP32",
+				"CORE_DEBUG_LEVEL=0",
+				"ARDUINO_USB_CDC_ON_BOOT="
+			]
+		},
+		{
+			"name": "Win32",
+			"includePath": [
+				"${workspaceFolder}/flix",
+				"${workspaceFolder}/gazebo",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.3/cores/**",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.3/libraries/**",
+				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32/**",
+				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32/dio_qspi/include",
+				"~/Documents/Arduino/libraries/**"
+			],
+			"forcedInclude": [
+				"${workspaceFolder}/.vscode/intellisense.h",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.3/cores/esp32/Arduino.h",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.3/variants/d1_mini32/pins_arduino.h",
+				"${workspaceFolder}/flix/cli.ino",
+				"${workspaceFolder}/flix/control.ino",
+				"${workspaceFolder}/flix/estimate.ino",
+				"${workspaceFolder}/flix/flix.ino",
+				"${workspaceFolder}/flix/imu.ino",
+				"${workspaceFolder}/flix/led.ino",
+				"${workspaceFolder}/flix/log.ino",
+				"${workspaceFolder}/flix/mavlink.ino",
+				"${workspaceFolder}/flix/motors.ino",
+				"${workspaceFolder}/flix/rc.ino",
+				"${workspaceFolder}/flix/time.ino",
+				"${workspaceFolder}/flix/util.ino",
+				"${workspaceFolder}/flix/wifi.ino"
+			],
+			"compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2302/bin/xtensa-esp32-elf-g++.exe",
+			"cStandard": "c11",
+			"cppStandard": "c++17",
+			"defines": [
+				"F_CPU=240000000L",
+				"ARDUINO=10607",
+				"ARDUINO_D1_MINI32",
+				"ARDUINO_ARCH_ESP32",
+				"ARDUINO_BOARD=D1_MINI32",
+				"ARDUINO_VARIANT=d1_mini32",
+				"ARDUINO_PARTITION_default",
+				"ARDUINO_FQBN=esp32:esp32:d1_mini32",
+				"ESP32",
+				"CORE_DEBUG_LEVEL=0",
+				"ARDUINO_USB_CDC_ON_BOOT="
+			]
+		}
+	],
+	"version": 4
+}

.vscode/extensions.json

@@ -0,0 +1,10 @@
+{
+	// See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	"recommendations": [
+		"ms-vscode.cpptools",
+		"twxs.cmake",
+		"ms-vscode.cmake-tools",
+		"ms-python.python"
+	],
+	"unwantedRecommendations": []
+}

.vscode/intellisense.h

@@ -0,0 +1,5 @@
+#ifdef __INTELLISENSE__
+	#pragma diag_suppress 144, 513
+	// diag 144: a value of type "enum <unnamed>" cannot be used to initialize an entity of type "enum <unnamed>"C/C++
+	// diag 513: a value of type "enum <unnamed>" cannot be assigned to an entity of type "enum <unnamed>"C/C++
+#endif

.vscode/launch.json

@@ -0,0 +1,25 @@
+{
+	"version": "0.2.0",
+	"configurations": [
+		{
+			"name": "Debug simulation",
+			"type": "cppdbg",
+			"request": "launch",
+			"program": "/usr/bin/gzserver",
+			"osx": {
+				"program": "/opt/homebrew/bin/gzserver",
+				"MIMode": "lldb",
+			},
+			"args": ["--verbose", "${workspaceFolder}/gazebo/flix.world"],
+			"stopAtEntry": false,
+			"cwd": "${fileDirname}",
+			"environment": [
+				{"name": "GAZEBO_MODEL_PATH", "value": "${workspaceFolder}/gazebo/models"},
+				{"name": "GAZEBO_PLUGIN_PATH", "value": "${workspaceFolder}/gazebo/build"}
+			],
+			"MIMode": "gdb",
+			"preLaunchTask": "Build simulator",
+			"externalConsole": true,
+		},
+	]
+}

.vscode/settings.json

@@ -0,0 +1,8 @@
+{
+	"C_Cpp.intelliSenseEngineFallback": "enabled",
+	"files.associations": {
+		"*.sdf": "xml",
+		"*.ino": "cpp",
+		"*.h": "cpp"
+	}
+}

.vscode/tasks.json

@@ -0,0 +1,31 @@
+{
+	"tasks": [
+		{
+			"label": "Build firmware",
+			"type": "shell",
+			"command": "make",
+			"problemMatcher": [ "$gcc" ],
+			"presentation": { "clear": true, "showReuseMessage": false },
+		},
+		{
+			"label": "Upload firmware",
+			"type": "shell",
+			"command": "make upload",
+			"problemMatcher": [ "$gcc" ],
+			"presentation": { "clear": true, "showReuseMessage": false }
+		},
+		{
+			"label": "Build simulator",
+			"type": "shell",
+			"command": "make build_simulator",
+			"problemMatcher": [ "$gcc" ],
+			"presentation": { "clear": true, "showReuseMessage": false }
+		},
+		{
+			"label": "Clean",
+			"type": "shell",
+			"command": "make clean",
+		}
+	],
+	"version": "2.0.0"
+}

tools/check_c_cpp_properties.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+
+import os
+import platform
+import json
+import re
+
+path = '.vscode/c_cpp_properties.json' if os.path.exists('./.vscode/c_cpp_properties.json') else '../.vscode/c_cpp_properties.json'
+txt = open(path).read()
+# remove comments
+txt = re.sub(r'//.*', '', txt)
+props = json.loads(txt)
+
+env = props.get('env', {})
+env['workspaceFolder'] = '.'
+
+def check_path(s):
+    source = s
+    # replace env
+    for key, value in env.items():
+        s = s.replace('${' + key + '}', value)
+    # remove globs from the end
+    if s.endswith('**'):
+        s = s[:-2]
+    elif s.endswith('*'):
+        s = s[:-1]
+    s = os.path.expanduser(s)
+    if s == '':
+        s = '.'
+    print('Check', source, '->', s)
+    assert os.path.exists(s), 'Path does not exist: ' + s
+
+# linux, macos or windows:
+platform = platform.system().lower()
+if platform == 'darwin':
+    platform = 'mac'
+elif platform == 'windows':
+    platform = 'win32'
+elif platform == 'linux':
+    pass
+else:
+    raise Exception('Unknown platform: ' + platform)
+
+for configuration in props['configurations']:
+    if platform not in configuration['name'].lower():
+        print('Skip configuration', configuration['name'])
+        continue
+
+    print('Check configuration', configuration['name'])
+
+    for include_path in configuration.get('includePath', []):
+        check_path(include_path)
+
+    for forced_include in configuration.get('forcedInclude', []):
+        check_path(forced_include)
+
+    for browse in configuration.get('browse', {}).get('path', []):
+        check_path(browse)
+
+    if 'compilerPath' in configuration:
+        check_path(configuration['compilerPath'])