Ctest and remote debugging

vimfiles.stefan/plugin/toptica.vim

@@ -67,11 +67,9 @@ function s:ProjectSet(project_type, project_base_dir)
     execute 'set path+=' .  s:ProjectSrcDir.'/**'
     execute 'set path+=' .  g:ProjectBuildDir.'/**'
     let s:oselas_include = '/sysroot-arm-cortexa8-linux-gnueabi/usr/include'
-"    let s:oselas_gdb = '/opt/OSELAS.Toolchain-2018.12.0/arm-v7a-linux-gnueabi/gcc-8.2.1-glibc-2.28-binutils-2.31.1-kernel-3.6-sanitized/bin/arm-v7a-linux-gnueabi-gdb'
+    let s:oselas_gdb_4 = '/opt/OSELAS.Toolchain-2012.12.1/arm-cortexa8-linux-gnueabi/gcc-4.7.3-glibc-2.16.0-binutils-2.22-kernel-3.6-sanitized/bin/arm-cortexa8-linux-gnueabi-gdb'
-    let s:oselas_gdb = '/opt/OSELAS.Toolchain-2012.12.1/arm-cortexa8-linux-gnueabi/gcc-4.7.3-glibc-2.16.0-binutils-2.22-kernel-3.6-sanitized/bin/arm-cortexa8-linux-gnueabi-gdb'
+    let s:oselas_gdb = '/opt/OSELAS.Toolchain-2021.07.0/arm-v7a-linux-gnueabihf/gcc-11.1.1-clang-12.0.0-glibc-2.33-binutils-2.36.1-kernel-5.12.4-sanitized/bin/arm-v7a-linux-gnueabihf-gdb'
-"    let s:oselas_gdb = '/opt/OSELAS.Toolchain-2020.08.0/arm-v7a-linux-gnueabi/gcc-10.2.1-clang-10.0.1-glibc-2.32-binutils-2.35-kernel-5.8-sanitized/bin/arm-v7a-linux-gnueabi-gdb'
     let s:jlink_path = '/home/stefan/opt/SEGGER/JLink_Linux_V654a_x86_64'
-"    let s:jlink_path = '/home/stefan/opt/SEGGER/JLink_Linux_V688b_x86_64'
 
     if (g:project_type == 'dlcpro')
         let s:Program = '/device-control/device-control'
@@ -79,9 +77,10 @@ function s:ProjectSet(project_type, project_base_dir)
         let g:ProgramRemote = '/opt/app/bin/device-control'
         set wildignore-=**/firmware/src/device-control/**
         set wildignore+=**/shg-firmware/**
-        let s:makegoals = ['artifacts-firmware', 'artifacts', 'device-control', 'user-interface', 'doxygen', 'fw-updates', 'shg-firmware', 'can-updater', 'specalyser', 'docu-ul0', 'code-generation', 'dependency-graphs', 'clean', 'distclean', 'help', 'jamplayer', 'dlcpro-slot']
+        let s:makegoals = ['artifacts-firmware', 'artifacts', 'device-control', 'user-interface', 'doxygen', 'fw-updates', 'shg-firmware', 'can-updater', 'specalyser', 'docu-ul0', 'code-generation', 'dependency-graphs', 'decof', 'decof-sdk', 'clean', 'distclean', 'help', 'jamplayer', 'dlcpro-slot']
         let s:makeprg = 'make'
         let g:DeviceIP = 'DLC_PRO__040083'
+        let g:DebugRemote = v:true
         let g:GdbPort = '2345'
         let g:GccRoot = "/opt/OSELAS.Toolchain-2012.12.1/arm-cortexa8-linux-gnueabi/gcc-4.7.3-glibc-2.16.0-binutils-2.22-kernel-3.6-sanitized"
         let g:termdebugger = s:oselas_gdb
@@ -102,6 +101,7 @@ function s:ProjectSet(project_type, project_base_dir)
         let s:makegoals = ['artifacts-firmware', 'artifacts', 'device-control', 'user-interface', 'doxygen', 'fw-updates', 'shg-firmware', 'can-updater', 'specalyser', 'docu-ul0', 'code-generation', 'dependency-graphs', 'clean', 'distclean', 'help', 'jamplayer', 'dlcpro-slot']
         let s:makeprg = 'make'
         let g:DeviceIP = 'DLC_PRO__040083'
+        let g:DebugRemote = v:true
         let g:GdbPort = '2345'
         let g:GccRoot = "/opt/OSELAS.Toolchain-2012.12.1/arm-cortexa8-linux-gnueabi/gcc-4.7.3-glibc-2.16.0-binutils-2.22-kernel-3.6-sanitized"
         let g:termdebugger = s:oselas_gdb
@@ -119,6 +119,7 @@ function s:ProjectSet(project_type, project_base_dir)
         let s:makegoals = []
         let s:makeprg = 'make'
         let g:DeviceIP = 'DLC_PRO__040083'
+        let g:DebugRemote = v:true
         let g:GdbPort = '2345'
         let g:GccRoot = "/opt/OSELAS.Toolchain-2012.12.1/arm-cortexa8-linux-gnueabi/gcc-4.7.3-glibc-2.16.0-binutils-2.22-kernel-3.6-sanitized"
         let g:termdebugger = s:oselas_gdb
@@ -136,6 +137,7 @@ function s:ProjectSet(project_type, project_base_dir)
         let s:makegoals = []
         let s:makeprg = 'make'
         let g:DeviceIP = 'DLC_PRO__040083'
+        let g:DebugRemote = v:true
         let g:GdbPort = '2345'
         let g:GccRoot = "/opt/OSELAS.Toolchain-2012.12.1/arm-cortexa8-linux-gnueabi/gcc-4.7.3-glibc-2.16.0-binutils-2.22-kernel-3.6-sanitized"
         let g:termdebugger = s:oselas_gdb
@@ -153,11 +155,12 @@ function s:ProjectSet(project_type, project_base_dir)
         let s:makegoals = ['artifacts-firmware', 'artifacts', 'device-control', 'user-interface', 'doxygen', 'fw-updates', 'shg-firmware', 'can-updater', 'specalyser', 'docu-ul0', 'code-generation', 'dependency-graphs', 'clean', 'distclean', 'help', 'jamplayer', 'dlcpro-slot']
         let s:makeprg = 'make'
         let g:DeviceIP = 'DLC_PRO__040083'
+        let g:DebugRemote = v:true
         let g:GdbPort = '6666'
         let g:GccRoot = "/opt/OSELAS.Toolchain-2012.12.1/arm-cortexa8-linux-gnueabi/gcc-4.7.3-glibc-2.16.0-binutils-2.22-kernel-3.6-sanitized"
         let g:termdebugger = s:oselas_gdb
         execute 'ConqueGdbExe '.g:GccRoot.'/bin/arm-cortexa8-linux-gnueabi-gdb'
-        let g:SshOpts = '-o ForwardAgent=yes -o ProxyCommand="ssh -q -W shg:22 root@%h" -o StrictHostKeyChecking=no -o UserKnownHostsFile=/dev/null -o LogLevel=ERROR'
+        let g:SshOpts = '-o ForwardAgent=yes -o ProxyCommand="ssh -o RemoteCommand=none -q -W shg:22 root@%h" -o StrictHostKeyChecking=no -o UserKnownHostsFile=/dev/null -o LogLevel=ERROR'
         let g:SshOpts2 = "-L localhost:1998:localhost:1998 -L localhost:1999:localhost:1999"
         execute 'set path+=' .  g:GccRoot . s:oselas_include
 "        let g:ycm_clangd_args = ['-I'.g:GccRoot . s:oselas_include]
@@ -167,6 +170,7 @@ function s:ProjectSet(project_type, project_base_dir)
         let s:makegoals = []
         let s:makeprg = 'make'
         let g:termdebugger = 'gdb'
+        let g:DebugRemote = v:false
     elseif (g:project_type == 'topmode')
         let s:Program = '/topmode'
         let s:Elffile = s:Program
@@ -174,6 +178,7 @@ function s:ProjectSet(project_type, project_base_dir)
         let s:makegoals = []
         let s:makeprg = 'make'
         let g:DeviceIP = 'topmode_stefan'
+        let g:DebugRemote = v:true
         let g:GdbPort = '2345'
         let g:GccRoot = "/opt/OSELAS.Toolchain-2011.11.3/arm-cortexa8-linux-gnueabi/gcc-4.6.2-glibc-2.14.1-binutils-2.21.1a-kernel-2.6.39-sanitized"
         let g:termdebugger = s:oselas_gdb
@@ -188,11 +193,13 @@ function s:ProjectSet(project_type, project_base_dir)
         let s:makegoals = []
         let s:makeprg = 'make'
         let g:termdebugger = 'gdb'
+        let g:DebugRemote = v:false
     elseif (g:project_type == 'digifalc')
         let s:Program = '/digifalc-image.bin'
         let s:Elffile = '/application/digifalc.elf'
         let s:makegoals = ['firmware-update', 'html-docs', 'doxygen', 'digifalc.elf', 'bootloader.elf']
         let s:makeprg = 'cmake --build . --target'
+        let g:DebugRemote = v:true
         let g:GdbPort = '2331'
         let g:GccRoot = '/opt/gcc-arm-none-eabi-8-2019-q3-update'
         let g:termdebugger = g:GccRoot.'/bin/arm-none-eabi-gdb'
@@ -202,6 +209,7 @@ function s:ProjectSet(project_type, project_base_dir)
         let s:Elffile = '/application/servo-board.elf'
         let s:makegoals = ['firmware-update', 'html-docs', 'doxygen', 'servo-board.elf', 'bootloader.elf']
         let s:makeprg = 'cmake --build . --target'
+        let g:DebugRemote = v:true
         let g:GdbPort = '2331'
         let g:GccRoot = '/home/stefan/opt/gcc/gcc-arm-none-eabi-8-2019-q3-update'
         let g:termdebugger = g:GccRoot.'/bin/arm-none-eabi-gdb'
@@ -211,6 +219,7 @@ function s:ProjectSet(project_type, project_base_dir)
         let s:Elffile = '/application/dl-motor.elf'
         let s:makegoals = ['firmware-update', 'html-docs', 'doxygen', 'dl-motor.elf', 'bootloader.elf']
         let s:makeprg = 'cmake --build . --target'
+        let g:DebugRemote = v:true
         let g:GdbPort = '2331'
         let g:GccRoot = '/home/stefan/opt/gcc/gcc-arm-none-eabi-9-2020-q2-update'
         let g:termdebugger = g:GccRoot.'/bin/arm-none-eabi-gdb'
@@ -221,6 +230,7 @@ function s:ProjectSet(project_type, project_base_dir)
         let s:Elffile = '/firmware/operation_panel_'.g:stm32_target.'.elf'
         let s:makegoals = ['artifacts']
         let s:makeprg = 'cmake --build . --target'
+        let g:DebugRemote = v:true
         let g:GdbPort = '3333'
         let g:GccRoot = '/home/stefan/opt/gcc/gcc-arm-none-eabi-9-2020-q2-update'
         let g:termdebugger = g:GccRoot.'/bin/arm-none-eabi-gdb'
@@ -232,6 +242,7 @@ function s:ProjectSet(project_type, project_base_dir)
         let s:Elffile = '/firmware/operation_panel_'.g:stm32_target.'.elf'
         let s:makegoals = ['artifacts']
         let s:makeprg = 'cmake --build . --target'
+        let g:DebugRemote = v:true
         let g:GdbPort = '3333'
         let g:GccRoot = '/home/stefan/opt/gcc/gcc-arm-none-eabi-9-2020-q2-update'
         let g:termdebugger = g:GccRoot.'/bin/arm-none-eabi-gdb'
@@ -240,6 +251,7 @@ function s:ProjectSet(project_type, project_base_dir)
     elseif (g:project_type == 'decof')
         let s:makegoals = ['all']
         let s:makeprg = 'cmake --build . --target'
+        let g:DebugRemote = v:false
     else
         echo "no project"
     endif
@@ -263,12 +275,16 @@ function s:ProjectSet(project_type, project_base_dir)
     command! -complete=custom,GetAllMakeCompletions -nargs=* MakeCmd call s:Make('<args>', 0)
     command! MakeTestBuild call s:MakeTestBuild()
     command! -nargs=* Ctest call s:Ctest('<args>', 0)
-    command! -nargs=1 MakeCheck call s:MakeCheck('<args>', 0)
+    command! -nargs=* Ctest1 call s:Ctest1('<args>', 0)
+    command! -nargs=* Ctest2 call s:Ctest2('<args>', 0)
+    command! -nargs=* Ctest3 call s:Ctest3('<args>', 0)
+    command! -nargs=? MakeCheck call s:MakeCheck('<args>', 0)
 
     " cmake
     command! -nargs=1 -complete=custom,CmakeBuildTypes Cmake call s:Cmake('<args>', 0)
     function! CmakeBuildTypes(ArgLead, CmdLine, CorsorPos)
         return join(['Debug', 'RelWithDebInfo'], "\n")
+        " return join(['Debug', 'RelWithDebInfo', '-DHARDWARE_DLCSMART=ON'], "\n")
     endfunction
 
     " configure quickfix window for asyncrun
@@ -306,6 +322,8 @@ function s:ProjectSet(project_type, project_base_dir)
     " little helpers
     command! -nargs=? BuildDirStash call s:BuildDirStash('<args>')
     command! -complete=custom,GetAllStashedBuildDirs -nargs=? BuildDirUnStash call s:BuildDirUnStash('<args>')
+    let $QT_FONT_DPI=96 " Size for qt-application in debugger
+
 
 endfunction
 
@@ -332,10 +350,18 @@ function s:MakeTestBuild()
     call s:BuildDirUnStash('save')
 endfunction
 
-function s:MakeCheck(args, async_mode)
+function s:MakeCheck(filename, async_mode)
     let &makeprg = s:ProjectSrcDir.'/tools/static-check.py'
     call asyncrun#quickfix_toggle(10, 1)
-    execute 'AsyncRun -mode='.a:async_mode.' -save=2 -program=make -cwd='.g:ProjectBuildDir. ' @ --infile='.a:args
+    if a:filename != ''
+        let args = '--infile='.a:filename
+    else
+        let args = '--infile=%'
+    endif
+    if exists("g:analyser")
+        let args .= ' --analyser='.g:analyser
+    endif
+    execute 'AsyncRun -mode='.a:async_mode.' -save=2 -program=make -cwd='.g:ProjectBuildDir. ' @ '.args
 endfunction
 
 function s:Cmake(build_type, async_mode)
@@ -377,9 +403,52 @@ function s:Cmake(build_type, async_mode)
 endfunction
 
 function s:Ctest(args, async_mode)
-    let cmd = 'ctest --build-and-test ./src unit-tests --build-generator "Unix Makefiles" --build-target unit_tests --nocompress-output -T Test --build-options -DCMAKE_BUILD_TYPE=Debug --test-command ctest'
+    let cmd = 'ctest --build-and-test ../src . --build-generator "Unix Makefiles" --build-target unit_tests --nocompress-output -T Test --build-options -DCMAKE_BUILD_TYPE=Debug --test-command ctest'
     call asyncrun#quickfix_toggle(10, 1)
-    execute 'AsyncRun -mode='.a:async_mode.' -save=2 -cwd='.s:ProjectBaseDir.' @ ' . cmd .' '. a:args
+    execute 'AsyncRun -mode='.a:async_mode.' -save=2 -cwd='.s:ProjectBaseDir.'/unit-tests @ ' . cmd .' '. a:args
+endfunction
+
+function s:Ctestx(args, async_mode)
+    let unit_test_dirname = 'unit-tests'
+    let unit_test_dir = s:ProjectBaseDir . '/' . unit_test_dirname
+    if !isdirectory('./unit-tests')
+        call mkdir('./unit-tests')
+    endif
+    let cmake_cmd = 'cmake --build-generator "Unix Makefiles" --build-target unit_tests -DCMAKE_BUILD_TYPE=Debug ../'.g:ProjectSrcDirRel
+    let build_cmd = 'cmake --build . -j --target unit_tests'
+    let ctest_cmd = 'ctest  --nocompress-output -T Test'
+    call asyncrun#quickfix_toggle(10, 1)
+    execute 'AsyncRun -mode=1 -save=2 -cwd='.unit_test_dir.' @ ' . cmake_cmd
+    execute 'AsyncRun -mode=1 -save=2 -cwd='.unit_test_dir.' @ ' . build_cmd
+    execute 'AsyncRun -mode='.a:async_mode.' -save=2 -cwd='.unit_test_dir.' @ ' . ctest_cmd .' '. a:args
+endfunction
+
+function s:Ctest1(args, async_mode)
+    let unit_test_dirname = 'unit-tests'
+    let unit_test_dir = s:ProjectBaseDir . '/' . unit_test_dirname
+    if !isdirectory(unit_test_dir)
+        call mkdir(unit_test_dir)
+    endif
+    call asyncrun#quickfix_toggle(10, 1)
+    " let cmake_cmd = 'cmake --build-generator "Unix Makefiles" --build-target unit_tests -DCMAKE_BUILD_TYPE=Debug -DUNIT_TESTING=ON ../'.g:ProjectSrcDirRel . ' '. a:args
+    let cmake_cmd = 'cmake -DCMAKE_BUILD_TYPE=Debug -DUNIT_TESTING=ON ../'.g:ProjectSrcDirRel . ' '. a:args
+    execute 'AsyncRun -mode=1 -save=2 -cwd='.unit_test_dir.' @ ' . cmake_cmd
+endfunction
+
+function s:Ctest2(args, async_mode)
+    let unit_test_dirname = 'unit-tests'
+    let unit_test_dir = s:ProjectBaseDir . '/' . unit_test_dirname
+    let build_cmd = 'cmake --build . -j --target unit_tests ' . a:args
+    call asyncrun#quickfix_toggle(10, 1)
+    execute 'AsyncRun -mode=1 -save=2 -cwd='.unit_test_dir.' @ ' . build_cmd
+endfunction
+
+function s:Ctest3(args, async_mode)
+    let unit_test_dirname = 'unit-tests'
+    let unit_test_dir = s:ProjectBaseDir . '/' . unit_test_dirname
+    let ctest_cmd = 'ctest  --nocompress-output -T Test'
+    call asyncrun#quickfix_toggle(10, 1)
+    execute 'AsyncRun -mode='.a:async_mode.' -save=2 -cwd='.unit_test_dir.' @ ' . ctest_cmd .' '. a:args
 endfunction
 
 function s:Call_and_log(cmd)
@@ -402,11 +471,11 @@ endfunction
 "endfunction
 
 function s:DlcproEmission(state)
-    call s:Call_and_log('ssh '.g:SshOpts.' root@'.g:DeviceIP.' "echo '.a:state.' > /sys/bus/i2c/devices/200-0028/emission_button_state"')
+    call s:Call_and_log('ssh -o RemoteCommand=none '.g:SshOpts.' root@'.g:DeviceIP.' "echo '.a:state.' > /sys/bus/i2c/devices/200-0028/emission_button_state"')
 endfunction
 
 function s:DlcproShutup()
-    call s:Call_and_log('ssh '.g:SshOpts.' root@'.g:DeviceIP.' "modprobe -r tam3517_buzzer"')
+    call s:Call_and_log('ssh -o RemoteCommand=none '.g:SshOpts.' root@'.g:DeviceIP.' "modprobe -r tam3517_buzzer"')
 endfunction
 
 function s:JLinkFlashProgram()
@@ -414,11 +483,11 @@ function s:JLinkFlashProgram()
 endfunction
 
 function s:DeviceUpdateProgramLinux()
-    call s:Call_and_log('ssh '.g:SshOpts.' root@'.g:DeviceIP.' "killall -q gdbserver start-dc.sh '.fnamemodify(g:ProgramRemote, ':t').'"')
+    call s:Call_and_log('ssh -o RemoteCommand=none '.g:SshOpts.' root@'.g:DeviceIP.' "killall -q gdbserver start-dc.sh '.fnamemodify(g:ProgramRemote, ':t').'"')
     sleep 2
-"    call s:Call_and_log('ssh '.g:SshOpts.' root@'.g:DeviceIP.' "killall -q -9 gdbserver start-dc.sh '.g:ProgramRemote.'"')
+"    call s:Call_and_log('ssh -o RemoteCommand=none '.g:SshOpts.' root@'.g:DeviceIP.' "killall -q -9 gdbserver start-dc.sh '.g:ProgramRemote.'"')
-    call s:Call_and_log('ssh '.g:SshOpts.' root@'.g:DeviceIP.' "killall -q -9 gdbserver start-dc.sh '.fnamemodify(g:ProgramRemote, ':t').'"')
+    call s:Call_and_log('ssh -o RemoteCommand=none '.g:SshOpts.' root@'.g:DeviceIP.' "killall -q -9 gdbserver start-dc.sh '.fnamemodify(g:ProgramRemote, ':t').'"')
-    let r = s:Call_and_log('ssh '.g:SshOpts.' root@'.g:DeviceIP.' "mount -o rw,remount / && rm -f '.g:ProgramRemote.'" && scp '.g:SshOpts.' "'.g:Program.'" "root@'.g:DeviceIP.':'.g:ProgramRemote.'"')
+    let r = s:Call_and_log('ssh -o RemoteCommand=none '.g:SshOpts.' root@'.g:DeviceIP.' "mount -o rw,remount / && rm -f '.g:ProgramRemote.'" && scp '.g:SshOpts.' "'.g:Program.'" "root@'.g:DeviceIP.':'.g:ProgramRemote.'"')
     return r
 endfunction
 
@@ -426,24 +495,21 @@ function s:DeviceFirmwareUpdateStartLinux()
     let r = s:DeviceUpdateProgramLinux()
     if (r == 0)
         let workdir = 'cd /opt/app &&'
-        call s:Call_and_log('ssh '.g:SshOpts.' -f root@'.g:DeviceIP.' "{ '.workdir.' '.g:ProgramRemote.' 2>&1 | logger -t "'.g:ProgramRemote.'" -p user.err; } &"')
+        call s:Call_and_log('ssh -o RemoteCommand=none '.g:SshOpts.' -f root@'.g:DeviceIP.' "{ '.workdir.' '.g:ProgramRemote.' 2>&1 | logger -t "'.g:ProgramRemote.'" -p user.err; } &"')
     endif
 endfunction
 
 function s:DeviceStartGdbServer()
     if ((g:project_type == 'digifalc') || (g:project_type == 'servoboard') || (g:project_type == 'dl-motor'))
         call s:Call_and_log('pkill --full JLinkGDBServer')
-"        call s:Call_and_log('/opt/SEGGER/JLink/JLinkGDBServer -if SWD -device STM32H743XI &')
-"        call s:Call_and_log('/opt/SEGGER/JLink/JLinkGDBServer -if SWD -device STM32H743ZI2 &')
-"        call s:Call_and_log('/opt/SEGGER/JLink/JLinkGDBServer -if SWD -device STM32H743ZI &')
         call s:Call_and_log(s:jlink_path.'/JLinkGDBServer -if SWD -device STM32H743ZI &')
     elseif ((g:project_type == 'operation-panel-f1') || (g:project_type == 'operation-panel-f4'))
         call s:Call_and_log('pkill --full openocd')
         call s:Call_and_log('openocd -f interface/stlink.cfg -f target/'.s:stm_cfg.'.cfg &')
     else
         call s:Call_and_log('pkill --full gdbserver')
-        call s:Call_and_log('ssh '.g:SshOpts.' root@'.g:DeviceIP.' "killall -q -9 gdbserver start-dc.sh '.fnamemodify(g:ProgramRemote, ':t').'"')
+        call s:Call_and_log('ssh -o RemoteCommand=none '.g:SshOpts.' root@'.g:DeviceIP.' "killall -q -9 gdbserver start-dc.sh '.fnamemodify(g:ProgramRemote, ':t').'"')
-        call s:Call_and_log('ssh '.g:SshOpts.' -L localhost:'.g:GdbPort.':localhost:'.g:GdbPort.' "root@'.g:DeviceIP.'" '.g:SshOpts2.' gdbserver --multi localhost:'.g:GdbPort.' &')
+        call s:Call_and_log('ssh -o RemoteCommand=none '.g:SshOpts.' -L localhost:'.g:GdbPort.':localhost:'.g:GdbPort.' "root@'.g:DeviceIP.'" '.g:SshOpts2.' gdbserver --multi localhost:'.g:GdbPort.' &')
     endif
 endfunction
 
@@ -451,13 +517,12 @@ function s:DeviceStartGdbServerAttach()
     if ((g:project_type == 'digifalc') || (g:project_type == 'servoboard') || (g:project_type == 'dl-motor'))
     else
         call s:Call_and_log('pkill --full gdbserver')
-        call s:Call_and_log('ssh '.g:SshOpts.' -L localhost:'.g:GdbPort.':localhost:'.g:GdbPort.' "root@'.g:DeviceIP.'" '.g:SshOpts2.' "gdbserver localhost:'.g:GdbPort.' --attach \`pidof '.fnamemodify(g:ProgramRemote, ':t').'\` &"')
+        call s:Call_and_log('ssh -o RemoteCommand=none '.g:SshOpts.' -L localhost:'.g:GdbPort.':localhost:'.g:GdbPort.' "root@'.g:DeviceIP.'" '.g:SshOpts2.' "gdbserver localhost:'.g:GdbPort.' --attach \`pidof '.fnamemodify(g:ProgramRemote, ':t').'\` &"')
     endif
 endfunction
 
 function s:SendToTerm(command)
     call term_sendkeys('', a:command . "\n")
-    sleep 1
 endfunction
 
 function s:SendToConque(command)
@@ -465,7 +530,7 @@ function s:SendToConque(command)
 endfunction
 
 function s:SendToDebugger(command)
-    if ((g:project_type == 'digifalc') || (g:project_type == 'servoboard') || (g:project_type == 'dl-motor') || (g:project_type == 'operation-panel-f1') || (g:project_type == 'operation-panel-f4'))
+    if !exists("s:UseConqueGdb")
         call s:SendToTerm(a:command)
     else
         call s:SendToConque(a:command)
@@ -473,13 +538,14 @@ function s:SendToDebugger(command)
 endfunction
 
 function s:StartDebugger(elffile, attach)
-    if ((g:project_type == 'dlcpro-gui') ||(g:project_type == 'digifalc') || (g:project_type == 'servoboard') || (g:project_type == 'dl-motor') || (g:project_type == 'operation-panel-f1') || (g:project_type == 'operation-panel-f4'))
+    if !exists("s:UseConqueGdb")
         if (a:attach == 0)
             Termdebug
         else
             execute 'Termdebug ' . a:elffile
         endif
     else
+        echom 'Using ConqueGdb'
         if (a:attach == 0)
             ConqueGdbTab
         else
@@ -496,32 +562,34 @@ function s:DeviceDebug(attach)
         if (r != 0)
             echoerr "DeviceFirmwareUpdate() failed!"
         else
-            sleep 2
+            if (g:DebugRemote == v:false)
-            call s:DeviceStartGdbServer()
+                call s:StartDebugger(g:Elffile, a:attach)
-            sleep 2
+                call s:SendToDebugger('file '.g:Elffile)
-            call s:StartDebugger(g:Elffile, a:attach)
-"            call s:SendToDebugger('')
-            call s:SendToDebugger('target extended-remote localhost:'.g:GdbPort)
-            if exists("g:ProgramRemote")
-                call s:SendToDebugger('set remote exec-file '.g:ProgramRemote)
-            endif
-            call s:SendToDebugger('file '.g:Elffile)
-            " call s:SendToDebugger('y')
-            sleep 3
-            if ((g:project_type == 'operation-panel-f1') || (g:project_type == 'operation-panel-f4'))
-                call s:SendToDebugger('y')
-                call s:SendToDebugger('monitor reset')
-                call s:SendToDebugger('load')
-                call s:SendToDebugger('break main')
-            else
                 call s:SendToDebugger('break main')
                 call s:SendToDebugger('run')
-                " call s:SendToDebugger('y')
+            else
+                call s:DeviceStartGdbServer()
+                sleep 1
+                call s:StartDebugger(g:Elffile, a:attach)
+                call s:SendToDebugger('target extended-remote localhost:'.g:GdbPort)
+                if exists("g:ProgramRemote")
+                    call s:SendToDebugger('set remote exec-file '.g:ProgramRemote)
+                endif
+                call s:SendToDebugger('file '.g:Elffile)
+                if ((g:project_type == 'operation-panel-f1') || (g:project_type == 'operation-panel-f4'))
+                    call s:SendToDebugger('y')
+                    call s:SendToDebugger('monitor reset')
+                    call s:SendToDebugger('load')
+                    call s:SendToDebugger('break main')
+                else
+                    call s:SendToDebugger('break main')
+                    call s:SendToDebugger('run')
+                endif
+                execute '2hide'
             endif
         endif
     else
         call s:DeviceStartGdbServerAttach()
-        sleep 1
         call s:StartDebugger(a:attach)
         call s:SendToDebugger('target remote localhost:'.g:GdbPort)
         " get remote src path with gdb: info sources or gdb: break main
@@ -590,7 +658,7 @@ function s:DlcproRegtestCmd(ip, powerswitch_ip, powerplug, laser_count, laser_ty
 
     let archive_dir = g:ProjectBuildDir."/artifacts"
     let license_builddir = s:ProjectBaseDir.'/build.license'
-    let licensetool = license_builddir."/libdlcprolicense/dlcprolicense-tool"
+    let licensetool = license_builddir."/dlcprolicense-tool/dlcprolicense-tool"
     let $JENKINS_URL = g:jenkins_url
 
     let test_cmd =