Setup (Pycharm)

Pycharm Professional

• Get the Jetbrains student membership (https://www.jetbrains.com/student/) or use the UTRA account https://docs.google.com/document/d/1eJVmYDuQD8JyMIl4DCIleO53GXAQwRqBPCAXFO6W6mQ/edit
• Use Jetbrains installer (https://www.jetbrains.com/toolbox/app/) and install Pycharm Professional (or Pycharm Community if you don't have the license)
• Change the theme to the white theme
• Open Pycharm, go to File > Open and open the repository name (soccerbot)

Auto Sync using settings repository

• Click File > Manage IDE Settings > Settings Repository
• If the option is disabled, you need to diable cloud sync File > Manage IDE Settings > IDE Settings Sync > Disable
• Set https://github.com/utra-robosoccer/soccerbot_pycharm_settings.git as the Upstream URL and then click Overwrite Local

Python Intepreter

• Use the System Intepretor
  • Go to File > Setting > Project:xxxx > Project Interpreter > (Click on the Gear) > Add > System Intepreter and choose /usr/bin/python3.8
  • Click on the gear > show all > Select python 3.8 > Show paths for the selected interpreter (5th button from the left) > Add the Intepreter Paths (Replace $USER with your computer user)

    /opt/ros/noetic/lib/python3/dist-packages
    /home/$USER/catkin_ws/devel/lib/python3/dist-packages
    /home/$USER/catkin_ws/src/soccerbot/external/webots/lib/controller/python38

• OR Use the docker-compose Intepretor
  • Go to File > Setting > Project:xxxx > Project Interpreter > (Click on the Gear) > Add > Docker Compose
    • choose the docker-compose.yaml file
    • choose service as friendly
    • choose python interpreter path as /usr/bin/python3.8
  • Click on the gear > show all > Select python 3.8 > Show paths for the selected interpreter (5th button from the left) > Add the Intepreter Paths

    /usr/lib/python3.8
    /usr/local/lib/python3.8/dist-packages
    /usr/lib/python3/dist-packages
    /opt/ros/noetic/lib/python3/dist-packages
    /root/catkin_ws/devel/lib/python3/dist-packages

  • Under path mappings, add the path mapping

    /home/$USER/catkin_ws -> /root/catkin_ws
    

Optional

• Install the *.launch file plugins. Look up duckietown/hatchery from the third party repositories in Preferences/Plugins

Debugging

• Edit the file /etc/sysctl.d/10-ptrace.conf and change the line kernel.yama.ptrace_scope = 1 to kernel.yama.ptrace_scope = 0. and then run sudo service procps restart
• Run > Attach to Process > Select the Process you want to attach to, you might want to rosnode info to identify it's PID. Add a breakpoint

Debugging in the container (Optional)

• Run sudo visudo and add the lineshahryar ALL=NOPASSWD:/usr/bin/gdb (replace shahryar with your name)
• Edit the ~/.local/share/JetBrains/Toolbox/apps/PyCharm-P/ch-0/221.5080.212/plugins/python/helpers/pydev/pydevd_attach_to_process/add_code_to_python_process.py line 470 and add the sudo to it so it looks like the following (Note: 221.5080.212 folder might differ on your computer but follows the same number.number.number format)

    cmd = [
        'sudo',
        'gdb',
        '--nw',  # no gui interface
        '--nh',  # no ~/.gdbinit
        '--nx',  # no .gdbinit
#         '--quiet',  # no version number on startup
        '--pid',
        str(pid),
        '--batch',
#         '--batch-silent',
    ]

• Edit the ~/.local/share/JetBrains/Toolbox/apps/PyCharm-P/ch-0/221.5080.212/plugins/python/helpers/pydev/pydevd_attach_to_process/attach_pydevd.py line 470 and change the setup host to '172.17.0.1' on line 12

def process_command_line(argv):
    setup = {}
    setup['port'] = 5678  # Default port for PyDev remote debugger
    setup['pid'] = 0
    setup['host'] = '172.17.0.1'
    setup['protocol'] = ''

• Run > Attach to Process > Select the Process you want to attach to, you might want to rosnode info to identify it's PID. Add a breakpoint