vscode使用

vscode官网：https://code.visualstudio.com/，https://code.visualstudio.com/docs。

一、vscode安装

可直接在官网上下载windows或Linux安装包安装，也可Ubuntu通过命令行导入仓库安装。参考：https://code.visualstudio.com/docs/setup/linux

sudo apt install ./<file>.deb

wget -qO- https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > packages.microsoft.gpg
sudo install -o root -g root -m 644 packages.microsoft.gpg /etc/apt/trusted.gpg.d/
sudo sh -c 'echo "deb [arch=amd64,arm64,armhf signed-by=/etc/apt/trusted.gpg.d/packages.microsoft.gpg] https://packages.microsoft.com/repos/code stable main" > /etc/apt/sources.list.d/vscode.list'

sudo apt install apt-transport-https
sudo apt update
sudo apt install code # or code-insiders

一般安装完成后，基于不同语言开发时，需要安装不同插件，根据提示安装即可。

二、vscode远程开发

参考：我最终还是选择了VS code！

如果是windows+Linux虚拟机开发模式，在windows下安装vscode，配置远程开发，可远程Linux编程。

1. 点击扩展按钮，搜索Remote Development，并安装。

2. 配置远程服务器。点击远程资源管理器，点击齿轮图标，打开config文件，配置host ip，user等信息。或者选择ssh Targets，添加ssh主机。

3. 点选远程连接条目，Connection to host in New Window，输入密码远程链接。

4. 可进一步配置windows ssh公钥，实现免密连接。（可不配置）

三、vscode标准配置

vscode工程一般包含.vscode目录，用于存放工程配置文件，默认包含launch.json和tasks.json。

launch.json：用于配置程序启动项，常用的是配置启动（命令行）参数（args）。标准的参考文件：

{
    // 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": "g++ - Build and debug active file",
            "type": "cppdbg",
            "request": "launch",
            "program": "${fileDirname}/${fileBasenameNoExtension}",
            "args": ["hw:0,0", "atest.aac"],
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ],
            "preLaunchTask": "C/C++: g++ build active file",
            "miDebuggerPath": "/usr/bin/gdb"
        }
    ]

其中，name，program，cwd，miDebuggerPath，miDebuggerServerAddress需要根据实际情况配置。

注：如果嵌入式远程调试，需要配置miDebuggerPath和miDebuggerServerAddress：

"miDebuggerPath": "/home/zuozhongkai/linux/IMX6ULL/tool/gdb/bin/arm-linux-gnueabihf-gdb",
"miDebuggerServerAddress": "192.168.1.251:2001"

task.json：用于配置编译选项，常用的是配置编译链接参数（args）。

{
    "tasks": [
        {
            "type": "shell",
            "label": "C/C++: g++ build active file",
            "command": "/usr/bin/gcc",
            "args": [
                "-g",
                "${file}",
                "-lavformat", "-lavcodec",  "-lavdevice", "-lavutil",  "-lswscale", "-lswresample", "-lm",
                "-o",
                "${fileDirname}/${fileBasenameNoExtension}"
            ],
            "options": {
                "cwd": "${workspaceFolder}"
            },
            "problemMatcher": [
                "$gcc"
            ],
            "group": {
                "kind": "build",
                "isDefault": true
            }
        }
    ],
    "version": "2.0.0"
}

compile_commands.json配置includePath环境

1) 使用cmake导出compile_commands.json

cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=YES ..
或cmakelists.txt中
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

2）vscode中使用ctrl++shift+P打开Command Palette，运行C/Cpp: Edit configurations(JSON)

{
    "configurations": [
        {
            "name": "Linux",
            "includePath": [
                "${workspaceFolder}/**"
            ],
            "defines": [],
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "c11",
            "cppStandard": "gnu++14",
            "intelliSenseMode": "linux-gcc-x64",
            "compileCommands": "${workspaceFolder}/src/build/compile_commands.json"
        }
    ],
    "version": 4
}

在.vscode/c_cpp_properties.json中添加compileCommands字段。

也可在includePath中分贝指定头文件路径。

四、ROS开发

参考：ROS——vscode配置 - 古月居

catkin_make -DCMAKE_EXPORT_COMPILE_COMMANDS=Yes

五、快捷键

- ctrl + shift + p 命令行
- ctrl + p快速打开文件

- ctrl + space 强制弹出代码提示

六、技巧

1. vscode CMake管理时不能编译，要在CMakeLists.txt中增加Debug：

cmake_minimum_required(VERSION 3.0.2)
project(sound_player)

set(CMAKE_BUILD_TYPE Debug)
## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-Wall -std=c++11)

七、错误收集

1. 远程连接不成功

Could not establish connection to "192.168.3.xxx","试图写入的管道不存在"

"install termal"，"Error: Running the contributed command: 
'_workbench.downloadResource' failed"等