{
    "version": "0.2.0",
    "configurations": [
        {
            "name": "(gdb) Launch-1",
            "type": "cppdbg",
            "request": "launch",
            "program": "/home/zq/zkf/recharge/build/recharge/wheelchair_state_machine_node",
            "args": [],
            "stopAtEntry": false,
            "cwd": "/home/zq/zkf/recharge",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                },
                {
                    "description": "Set Disassembly Flavor to Intel",
                    "text": "-gdb-set disassembly-flavor intel",
                    "ignoreFailures": true
                }
            ]
        },
        {
            "name": "Launch Chrome",
            "request": "launch",
            "type": "chrome",
            "url": "http://localhost:8080",
            "webRoot": "${workspaceFolder}"
        },
        {
            "name": "recharge debug",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/install/recharge/lib/recharge/wheelchair_state_machine_node",
            "args": [],
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "miDebuggerPath": "gdb",
            "setupCommands": [
                {
                    "description": "启用GDB整齐打印",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ]
        },
        {
            "name": "带参数调试",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/build/wheelchair_state_machine/wheelchair_state_machine_node",
            "args": [
                "--ros-args",
                "-p",
                "low_battery_threshold:=25.0",
                "-p",
                "critical_battery_threshold:=15.0",
                "-p",
                "distance_threshold:=0.6",
                "-p",
                "fit_window_size:=15"
            ],
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "miDebuggerPath": "/usr/bin/gdb",
            "setupCommands": [
                {
                    "description": "启用GDB整齐打印",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                },
                {
                    "description": "设置跳过无调试信息的函数",
                    "text": "set step-mode off",
                    "ignoreFailures": true
                }
            ],
            "preLaunchTask": "编译轮椅状态机"
        },
        {
            "name": "附加到运行进程",
            "type": "cppdbg",
            "request": "attach",
            "program": "${workspaceFolder}/build/wheelchair_state_machine/wheelchair_state_machine_node",
            "processId": "${command:pickProcess}",
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "启用GDB整齐打印",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ]
        }
    ]
}