Debugging on the Nao with GDB Server

To run gdb, complete with symbol table for debugging, we need to compile runswift, configured for GDB, and run a gdb server on the naos. Fortunately, this is made easy with some simple scripts:

1. nao_build_gdb Build complete with all debugging information, ready for gdb (add -j8 to use all cores compiling)
2. nao_sync_gdb -rad <ip/hostname of nao> Sync our debug version of runswift
3. nao_connect_gdb <ip/hostname of nao> Open ports required for gdb server and ssh into the nao itself. You are now on the nao.
4. runswift_gdbserver Start up runswift, but wait for the remote gdb instance to connect. If you need to restart, you only need to run this command.

Then, in a seperate terminal:

5. nao_remote_gdb Start up the remote gdb instance and connect to the runswift process running on the nao.

If everything has worked, you should see something like the following:

GNU gdb (Ubuntu 7.7.1-0ubuntu5~14.04.2) 7.7.1
...
For help, type "help".
Type "apropos word" to search for commands related to "word".
0xb78d78f0 in ?? () from /lib/ld-linux.so.2
(gdb) ▯

From now on, you can use gdb as normal. Type c/continue to run.

If you want to make changes, you only need to run steps 1, 2 and 4 (in the nao terminal) again, unless you've disconnected from the nao.

It should be noted that this is going to be running much slower than normal, so any tasks requiring heavy syncing may not work as anticipated.