vscode配置

插件安装

• c/c++
• cmake
• python
  禁用cmake tool保留cmake的语法高亮和提示的插件，cmake tool默认在build文件夹下进行编译，这里禁用该插件，通过tasks.json文件进行配置

配置文件作用

tasks.json
简单理解为定义一些脚本工具，可以在menu-terminal-run task中找到定义的脚本
c_cpp_properties.json
配置cpp查找目录，宏定义等，便于智能提示及跳转
settings.json
配置vscode
launch.json
用于调试及运行（暂时没完全理解，后续补充）

典型settings.json文件

{
// settings for cpp
"files.associations": {
"iostream": "cpp",
"xstring": "cpp",
"vector": "cpp"
},
// settings for python
"python.autoComplete.extraPaths": [
"/opt/ros/melodic/lib/python2.7/dist-packages",
],
"python.analysis.extraPaths": [
"/opt/ros/melodic/lib/python2.7/dist-packages",
],
// global settings
// update vscode manually
"update.mode": "manual",
// auto save 
"files.autoSave": "afterDelay",
}

配置cpp

tasks.json

{
"version": "2.0.0",
"tasks": [{
"label": "compile",
"command": "/usr/bin/g++",
"args": [
"-g",
"${file}",
"-o",
"${fileDirname}/build/${fileBasenameNoExtension}"
],
"problemMatcher": {
"owner": "cpp",
"fileLocation": [
"relative",
"${workspaceRoot}"
],
"pattern": {
"regexp": "^(.*):(\d+):(\d+):\s+(warning|error):\s+(.*)$",
"file": 1,
"line": 2,
"column": 3,
"severity": 4,
"message": 5
}
},
"group": {
"kind": "build",
"isDefault": true
}
}
]
}

上述配置等价于在命令行中执行：

/usr/bin/g++ -g ${file} -o ${fileDirname}/build/${fileBasenameNoExtension}

会将生成的文件保存在build文件夹下
其执行终端显示

Executing task: /usr/bin/g++ -g /home/zhao/vscode_pro/build_cpp/hello_world.cpp -o /home/zhao/vscode_pro/build_cpp/build/hello_world

注意：

• 需要将要编译的文件置于激活状态（即当前窗口打开的是要编译的文件）
• label对应的值便是该脚本名字

若要调试，则需要配置launch.json

{
"version": "0.2.0",
"configurations": [
{
"name": "C/C++",
"type": "cppdbg",
"request": "launch",
"program": "${fileDirname}/build/${fileBasenameNoExtension}",
"args": [],
"stopAtEntry": false,
"cwd": "${workspaceFolder}",
"environment": [],
"externalConsole": false,
"MIMode": "gdb",
"preLaunchTask": "compile",
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true
}
]
}
]
}

其中program指定要调试的文件，而preLaunchTask指定在运行该launch前需要执行的操作，这里定义了在调试之前先调用compile进行编译

配置cmake

为了便于项目管理，使用cmake，这里的配置方式就是将vscode视为一个编译器，其他的操作调用task定义的脚本完成
正常的cmake步骤为

mkdir build && cd build
cmake ..
make

这里的tasks.json配置文件如下

{
"options": {
"cwd": "${workspaceFolder}/cmake-build-debug"
},
"tasks": [
{
"label": "cmake",
//
"command":"cmake",
"command":"/usr/local/bin/cmake",
"args": ["-DCMAKE_BUILD_TYPE=Debug", ".."]
},
{
"label": "make",
"command":"make",
"args": ["-j9", ]
},
{
"label": "CMake Build",
"dependsOn":[
"cmake",
"make"
],
}
],
"version": "2.0.0"
}

很好理解，注意指定的当前工作目录cwd，表示执行task脚本是在该目录下进行的，同理可以添加其他的cmake及make操作
也可以启用cmake tool利用定义好的一系列task操作，直接执行，不过默认是在build目录下构建的

配置python

python配置对应的查找目录及python路径，通过settings.json配置查找补全目录，通过配置task设置执行python的路径，既然tasks只是定义了一个脚本，则可以采用如下方式配置tasks.json

{
"version": "2.0.0",
"tasks": [
{
"label": "python_env_name",
"type": "shell",
// "command": "python",
"command": "/home/zhao/anaconda3/envs/env_name/bin/python",
"args": ["${file}"],
"group": {
"kind": "build",
"isDefault": true
},
"presentation": {
"reveal": "always",
"panel": "shared"
},
}
]
}

配置ros

同理仅仅将vscode当作编辑器即可，直接配置task的一个执行脚本

{
"options": {
"cwd": "${workspaceFolder}/.."
},
"tasks": [
{
"label": "catkin_make",
"command":"catkin_make",
"args": []
},
],
"version": "2.0.0"
}

注意这里的cwd设置，可见我打开的根目录为ros工作空间的src目录
为了使得可以跳转到生成的msg和srv头文件，在c_cpp_properties.json中添加查找目录

{
"configurations": [
{
"name": "ROS",
"includePath": [
"/opt/ros/melodic/include/**",
"/usr/include/**",
"/usr/local/include/**",
"${workspaceFolder}/**",
"${workspaceFolder}/../devel/include/**"
],
"defines": [],
"compilerPath": "/usr/bin/gcc",
"cStandard": "c11",
"cppStandard": "gnu++14",
"intelliSenseMode": "linux-gcc-x64"
}
],
"version": 4
}

最后

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