From 5913812bb6d382fa2c8e124f1a9aca9009221fe8 Mon Sep 17 00:00:00 2001
From: Jose Luis Rivero <jrivero@honurobotics.com>
Date: Wed, 21 May 2025 17:24:13 +0200
Subject: [PATCH 1/9] Import backwards version 1.6

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>
---
 .../backward-cpp/BackwardConfig.cmake         |  85 ++++------
 .../backward-cpp/CMakeLists.txt               | 123 ++++++++-------
 .../backward_vendor/backward-cpp/backward.hpp | 146 ++++++------------
 3 files changed, 143 insertions(+), 211 deletions(-)

diff --git a/test/backward_vendor/backward-cpp/BackwardConfig.cmake b/test/backward_vendor/backward-cpp/BackwardConfig.cmake
index 353cdc5dc4..a982adcd64 100644
--- a/test/backward_vendor/backward-cpp/BackwardConfig.cmake
+++ b/test/backward_vendor/backward-cpp/BackwardConfig.cmake
@@ -43,6 +43,12 @@ set(STACK_DETAILS_BFD FALSE CACHE BOOL
 set(STACK_DETAILS_DWARF FALSE CACHE BOOL
 	"Use libdwarf/libelf to read debug info")
 
+if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR AND NOT DEFINED BACKWARD_TESTS)
+	# If this is a top level CMake project, we most lixely want the tests
+	set(BACKWARD_TESTS ON CACHE BOOL "Enable tests")
+else()
+	set(BACKWARD_TESTS OFF CACHE BOOL "Enable tests")
+endif()
 ###############################################################################
 # CONFIGS
 ###############################################################################
@@ -73,7 +79,7 @@ if (STACK_WALKING_LIBUNWIND)
 
 	# Disable other unwinders if libunwind is found
 	set(STACK_WALKING_UNWIND FALSE)
-	set(STACK_WALKING_BACKTRACE FALSE)
+	set(STACK_WALKING_BACKTRACE FALSE)	
 endif()
 
 if (${STACK_DETAILS_AUTO_DETECT})
@@ -83,21 +89,8 @@ if (${STACK_DETAILS_AUTO_DETECT})
 	# find libdw
 	find_path(LIBDW_INCLUDE_DIR NAMES "elfutils/libdw.h" "elfutils/libdwfl.h")
 	find_library(LIBDW_LIBRARY dw)
-	# in case it's statically linked, look for all the possible dependencies
-	find_library(LIBELF_LIBRARY elf)
-	find_library(LIBPTHREAD_LIBRARY pthread)
-	find_library(LIBZ_LIBRARY z)
-	find_library(LIBBZ2_LIBRARY bz2)
-	find_library(LIBLZMA_LIBRARY lzma)
-	find_library(LIBZSTD_LIBRARY zstd)
 	set(LIBDW_INCLUDE_DIRS ${LIBDW_INCLUDE_DIR} )
-	set(LIBDW_LIBRARIES ${LIBDW_LIBRARY}
-		$<$<BOOL:${LIBELF_LIBRARY}>:${LIBELF_LIBRARY}>
-		$<$<BOOL:${LIBPTHREAD_LIBRARY}>:${LIBPTHREAD_LIBRARY}>
-		$<$<BOOL:${LIBZ_LIBRARY}>:${LIBZ_LIBRARY}>
-		$<$<BOOL:${LIBBZ2_LIBRARY}>:${LIBBZ2_LIBRARY}>
-		$<$<BOOL:${LIBLZMA_LIBRARY}>:${LIBLZMA_LIBRARY}>
-		$<$<BOOL:${LIBZSTD_LIBRARY}>:${LIBZSTD_LIBRARY}>)
+	set(LIBDW_LIBRARIES ${LIBDW_LIBRARY} )
 	find_package_handle_standard_args(libdw ${_name_mismatched_arg}
 		REQUIRED_VARS LIBDW_LIBRARY LIBDW_INCLUDE_DIR)
 	mark_as_advanced(LIBDW_INCLUDE_DIR LIBDW_LIBRARY)
@@ -146,11 +139,6 @@ if (${STACK_DETAILS_AUTO_DETECT})
 		# If we attempt to link against static bfd, make sure to link its dependencies, too
 		get_filename_component(bfd_lib_ext "${LIBBFD_LIBRARY}" EXT)
 		if (bfd_lib_ext STREQUAL "${CMAKE_STATIC_LIBRARY_SUFFIX}")
-			find_library(LIBSFRAME_LIBRARY NAMES sframe)
-			if (LIBSFRAME_LIBRARY)
-				list(APPEND _BACKWARD_LIBRARIES ${LIBSFRAME_LIBRARY})
-			endif()
-
 			list(APPEND _BACKWARD_LIBRARIES iberty z)
 		endif()
 
@@ -202,24 +190,14 @@ if (NOT _BACKWARD_DEFINITIONS)
 endif()
 
 if(WIN32)
-	list(APPEND _BACKWARD_LIBRARIES dbghelp psapi)
+    list(APPEND _BACKWARD_LIBRARIES dbghelp psapi)
 	if(MINGW)
-		include(CheckCXXCompilerFlag)
-		check_cxx_compiler_flag(-gcodeview SUPPORT_WINDOWS_DEBUG_INFO)
-		if(SUPPORT_WINDOWS_DEBUG_INFO)
-			set(CMAKE_EXE_LINKER_FLAGS "-Wl,--pdb= ")
-			add_compile_options(-gcodeview)
-		else()
-			set(MINGW_MSVCR_LIBRARY "msvcr90$<$<CONFIG:DEBUG>:d>" CACHE STRING "Mingw MSVC runtime import library")
-			list(APPEND _BACKWARD_LIBRARIES ${MINGW_MSVCR_LIBRARY})
-		endif()
+	    set(MINGW_MSVCR_LIBRARY "msvcr90$<$<CONFIG:DEBUG>:d>" CACHE STRING "Mingw MSVC runtime import library")
+	    list(APPEND _BACKWARD_LIBRARIES ${MINGW_MSVCR_LIBRARY})
 	endif()
 endif()
 
-set(BACKWARD_INCLUDE_DIR
-	$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
-	$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
-)
+set(BACKWARD_INCLUDE_DIR "${CMAKE_CURRENT_LIST_DIR}")
 
 set(BACKWARD_HAS_EXTERNAL_LIBRARIES FALSE)
 set(FIND_PACKAGE_REQUIRED_VARS BACKWARD_INCLUDE_DIR)
@@ -230,25 +208,17 @@ endif()
 
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(Backward
-	REQUIRED_VARS ${FIND_PACKAGE_REQUIRED_VARS}
+    REQUIRED_VARS ${FIND_PACKAGE_REQUIRED_VARS}
 )
 list(APPEND _BACKWARD_INCLUDE_DIRS ${BACKWARD_INCLUDE_DIR})
 
-# add_backward, optional bool argument; if passed and true, backward will be included as a system header
 macro(add_backward target)
-	message(DEPRECATION "The add_backward() macro is deprecated, use target_link_libraries() to link to "
-	        "one of the exported targets: Backward::Interface, Backward::Object, or Backward::Backward."
-	)
-	if ("${ARGN}")
-		target_include_directories(${target} SYSTEM PRIVATE ${BACKWARD_INCLUDE_DIRS})
-	else()
-		target_include_directories(${target} PRIVATE ${BACKWARD_INCLUDE_DIRS})
-	endif()
+	target_include_directories(${target} PRIVATE ${BACKWARD_INCLUDE_DIRS})
 	set_property(TARGET ${target} APPEND PROPERTY COMPILE_DEFINITIONS ${BACKWARD_DEFINITIONS})
 	set_property(TARGET ${target} APPEND PROPERTY LINK_LIBRARIES ${BACKWARD_LIBRARIES})
 endmacro()
 
-set(BACKWARD_INCLUDE_DIRS ${_BACKWARD_INCLUDE_DIRS} CACHE INTERNAL "BACKWARD_INCLUDE_DIRS")
+set(BACKWARD_INCLUDE_DIRS ${_BACKWARD_INCLUDE_DIRS} CACHE INTERNAL "_BACKWARD_INCLUDE_DIRS")
 set(BACKWARD_DEFINITIONS ${_BACKWARD_DEFINITIONS} CACHE INTERNAL "BACKWARD_DEFINITIONS")
 set(BACKWARD_LIBRARIES ${_BACKWARD_LIBRARIES} CACHE INTERNAL "BACKWARD_LIBRARIES")
 mark_as_advanced(BACKWARD_INCLUDE_DIRS BACKWARD_DEFINITIONS BACKWARD_LIBRARIES)
@@ -256,15 +226,22 @@ mark_as_advanced(BACKWARD_INCLUDE_DIRS BACKWARD_DEFINITIONS BACKWARD_LIBRARIES)
 # Expand each definition in BACKWARD_DEFINITIONS to its own cmake var and export
 # to outer scope
 foreach(var ${BACKWARD_DEFINITIONS})
-	string(REPLACE "=" ";" var_as_list ${var})
-	list(GET var_as_list 0 var_name)
-	list(GET var_as_list 1 var_value)
-	set(${var_name} ${var_value})
-	mark_as_advanced(${var_name})
+  string(REPLACE "=" ";" var_as_list ${var})
+  list(GET var_as_list 0 var_name)
+  list(GET var_as_list 1 var_value)
+  set(${var_name} ${var_value})
+  mark_as_advanced(${var_name})
 endforeach()
 
-# if this file is used from the install tree by find_package(), include the
-# file CMake-generated file where the targets are defined
-if(EXISTS ${CMAKE_CURRENT_LIST_DIR}/BackwardTargets.cmake)
-	include(${CMAKE_CURRENT_LIST_DIR}/BackwardTargets.cmake)
+if (NOT TARGET Backward::Backward)
+	add_library(Backward::Backward INTERFACE IMPORTED)
+	set_target_properties(Backward::Backward PROPERTIES
+	    INTERFACE_INCLUDE_DIRECTORIES "${BACKWARD_INCLUDE_DIRS}"
+	    INTERFACE_COMPILE_DEFINITIONS "${BACKWARD_DEFINITIONS}"
+	)
+	if(BACKWARD_HAS_EXTERNAL_LIBRARIES)
+		set_target_properties(Backward::Backward PROPERTIES
+			INTERFACE_LINK_LIBRARIES "${BACKWARD_LIBRARIES}" 
+		)
+	endif()
 endif()
diff --git a/test/backward_vendor/backward-cpp/CMakeLists.txt b/test/backward_vendor/backward-cpp/CMakeLists.txt
index 667fa34666..97327ccd17 100644
--- a/test/backward_vendor/backward-cpp/CMakeLists.txt
+++ b/test/backward_vendor/backward-cpp/CMakeLists.txt
@@ -20,7 +20,7 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
-cmake_minimum_required(VERSION 3.14)
+cmake_minimum_required(VERSION 3.0)
 project(backward CXX)
 
 # Introduce variables:
@@ -31,22 +31,6 @@ include(GNUInstallDirs)
 
 include(BackwardConfig.cmake)
 
-###############################################################################
-# OPTIONS
-###############################################################################
-
-option(BACKWARD_SHARED "Build backward as a shared library" OFF)
-if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR AND NOT DEFINED BACKWARD_TESTS)
-	# If this is a top level CMake project, we most lixely want the tests
-	set(BACKWARD_TESTS ON CACHE BOOL "Enable tests")
-else()
-	set(BACKWARD_TESTS OFF CACHE BOOL "Enable tests")
-endif()
-
-###############################################################################
-# COMPILER FLAGS
-###############################################################################
-
 # check if compiler is nvcc or nvcc_wrapper
 set(COMPILER_IS_NVCC false)
 get_filename_component(COMPILER_NAME ${CMAKE_CXX_COMPILER} NAME)
@@ -68,6 +52,10 @@ if (${COMPILER_IS_NVCC})
   set(CMAKE_CXX_EXTENSIONS OFF)
 endif()
 
+###############################################################################
+# COMPILER FLAGS
+###############################################################################
+
 if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_COMPILER_IS_GNUCXX)
 	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
 	if (NOT ${COMPILER_IS_NVCC})
@@ -77,58 +65,75 @@ if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_COMPILER_IS_GNUCXX)
 endif()
 
 ###############################################################################
-# BACKWARD INTERFACE
-###############################################################################
-
-add_library(backward_interface INTERFACE)
-set_target_properties(backward_interface PROPERTIES EXPORT_NAME Interface)
-target_compile_definitions(backward_interface INTERFACE ${BACKWARD_DEFINITIONS})
-target_include_directories(backward_interface INTERFACE ${BACKWARD_INCLUDE_DIRS})
-if(BACKWARD_HAS_EXTERNAL_LIBRARIES)
-    target_link_libraries(backward_interface INTERFACE ${BACKWARD_LIBRARIES})
-endif()
-add_library(Backward::Interface ALIAS backward_interface)
-
-###############################################################################
-# BACKWARD OBJECT (Includes backward.cpp)
-# (Note that this target is not exported, since CMake currently does not allow
-# exporting an OBJECT library.)
+# BACKWARD OBJECT
 ###############################################################################
 
 add_library(backward_object OBJECT backward.cpp)
-set_target_properties(backward_object PROPERTIES EXPORT_NAME Object)
-target_link_libraries(backward_object PUBLIC Backward::Interface)
-add_library(Backward::Object ALIAS backward_object)
+target_compile_definitions(backward_object PRIVATE ${BACKWARD_DEFINITIONS})
+target_include_directories(backward_object PRIVATE ${BACKWARD_INCLUDE_DIRS})
+set(BACKWARD_ENABLE $<TARGET_OBJECTS:backward_object> CACHE STRING
+	"Link with this object to setup backward automatically")
+
 
 ###############################################################################
 # BACKWARD LIBRARY (Includes backward.cpp)
-# (Note that the linker will not include unused objects from a static library,
-# unless the -Wl,--whole-archive option (or similar) is used.)
 ###############################################################################
+option(BACKWARD_SHARED "Build dynamic backward-cpp shared lib" OFF)
 
-set(libtype STATIC)
 if(BACKWARD_SHARED)
     set(libtype SHARED)
 endif()
 add_library(backward ${libtype} backward.cpp)
-set_target_properties(backward PROPERTIES EXPORT_NAME Backward)
-target_link_libraries(backward PUBLIC Backward::Interface)
-add_library(Backward::Backward ALIAS backward)
-
-# check if Backward is being used as a top-level project or included as a subproject
-if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR)
-    install(
-        FILES "backward.hpp"
-        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
-    )
-    install(
-        FILES "BackwardConfig.cmake"
-        DESTINATION "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}"
-    )
-    # export the targets (note that exporting backward_object does not make sense)
-    install(TARGETS backward_interface backward EXPORT BackwardTargets)
-    # install a CMake file for the exported targets
-    install(EXPORT BackwardTargets
-            NAMESPACE Backward::
-            DESTINATION "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}")
+target_compile_definitions(backward PUBLIC ${BACKWARD_DEFINITIONS})
+target_include_directories(backward PUBLIC ${BACKWARD_INCLUDE_DIRS})
+
+###############################################################################
+# TESTS
+###############################################################################
+
+if(BACKWARD_TESTS)
+	enable_testing()
+
+	add_library(test_main OBJECT test/_test_main.cpp)
+
+	macro(backward_add_test src)
+		get_filename_component(name ${src} NAME_WE)
+		set(test_name "test_${name}")
+
+		add_executable(${test_name} ${src} ${ARGN} $<TARGET_OBJECTS:test_main>)
+
+		target_link_libraries(${test_name} PRIVATE Backward::Backward)
+
+		add_test(NAME ${name} COMMAND ${test_name})
+	endmacro()
+
+	# Tests without backward.cpp
+	set(TESTS
+		test
+		stacktrace
+		rectrace
+		select_signals
+		)
+
+	foreach(test ${TESTS})
+		backward_add_test(test/${test}.cpp)
+	endforeach()
+
+	# Tests with backward.cpp
+	set(TESTS
+		suicide
+		)
+
+	foreach(test ${TESTS})
+		backward_add_test(test/${test}.cpp ${BACKWARD_ENABLE})
+	endforeach()
 endif()
+
+install(
+    FILES "backward.hpp"
+    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+)
+install(
+    FILES "BackwardConfig.cmake"
+    DESTINATION ${CMAKE_INSTALL_LIBDIR}/backward
+)
diff --git a/test/backward_vendor/backward-cpp/backward.hpp b/test/backward_vendor/backward-cpp/backward.hpp
index 2342b180c1..ac7ad51738 100644
--- a/test/backward_vendor/backward-cpp/backward.hpp
+++ b/test/backward_vendor/backward-cpp/backward.hpp
@@ -101,7 +101,7 @@
 // #define BACKWARD_HAS_UNWIND 1
 //  - unwind comes from libgcc, but I saw an equivalent inside clang itself.
 //  - with unwind, the stacktrace is as accurate as it can possibly be, since
-//  this is used by the C++ runtime in gcc/clang for stack unwinding on
+//  this is used by the C++ runtine in gcc/clang for stack unwinding on
 //  exception.
 //  - normally libgcc is already linked to your program by default.
 //
@@ -211,23 +211,10 @@
 #else
 #include <link.h>
 #endif
-#if defined(__ppc__) || defined(__powerpc) || defined(__powerpc__) ||        \
-    defined(__POWERPC__)
-// Linux kernel header required for the struct pt_regs definition
-// to access the NIP (Next Instruction Pointer) register value
-#include <asm/ptrace.h>
-#endif
 #include <signal.h>
 #include <sys/stat.h>
 #include <syscall.h>
 #include <unistd.h>
-#ifndef _GNU_SOURCE
-#define _GNU_SOURCE
-#include <dlfcn.h>
-#undef _GNU_SOURCE
-#else
-#include <dlfcn.h>
-#endif
 
 #if BACKWARD_HAS_BFD == 1
 //              NOTE: defining PACKAGE{,_VERSION} is required before including
@@ -240,6 +227,13 @@
 #define PACKAGE_VERSION
 #endif
 #include <bfd.h>
+#ifndef _GNU_SOURCE
+#define _GNU_SOURCE
+#include <dlfcn.h>
+#undef _GNU_SOURCE
+#else
+#include <dlfcn.h>
+#endif
 #endif
 
 #if BACKWARD_HAS_DW == 1
@@ -254,6 +248,13 @@
 #include <libdwarf.h>
 #include <libelf.h>
 #include <map>
+#ifndef _GNU_SOURCE
+#define _GNU_SOURCE
+#include <dlfcn.h>
+#undef _GNU_SOURCE
+#else
+#include <dlfcn.h>
+#endif
 #endif
 
 #if (BACKWARD_HAS_BACKTRACE == 1) || (BACKWARD_HAS_BACKTRACE_SYMBOL == 1)
@@ -270,7 +271,7 @@
 // #define BACKWARD_HAS_UNWIND 1
 //  - unwind comes from libgcc, but I saw an equivalent inside clang itself.
 //  - with unwind, the stacktrace is as accurate as it can possibly be, since
-//  this is used by the C++ runtime in gcc/clang for stack unwinding on
+//  this is used by the C++ runtine in gcc/clang for stack unwinding on
 //  exception.
 //  - normally libgcc is already linked to your program by default.
 //
@@ -337,12 +338,7 @@
 #include <thread>
 
 #include <basetsd.h>
-
-#ifdef _WIN64
 typedef SSIZE_T ssize_t;
-#else
-typedef int ssize_t;
-#endif
 
 #ifndef NOMINMAX
 #define NOMINMAX
@@ -521,7 +517,7 @@ template <typename T> struct default_delete {
   void operator()(T &ptr) const { delete ptr; }
 };
 
-template <typename T, typename Deleter = deleter<void, void *, &::free> >
+template <typename T, typename Deleter = deleter<void, void *, &::free>>
 class handle {
   struct dummy;
   T _val;
@@ -727,7 +723,6 @@ template <typename TAG> class StackTraceImpl {
   }
   size_t thread_id() const { return 0; }
   void skip_n_firsts(size_t) {}
-  void *const *begin() const { return nullptr; }
 };
 
 class StackTraceImplBase {
@@ -811,12 +806,7 @@ template <typename F> class Unwinder {
     _index = -1;
     _depth = depth;
     _Unwind_Backtrace(&this->backtrace_trampoline, this);
-    if (_index == -1) {
-      // _Unwind_Backtrace has failed to obtain any backtraces
-      return 0;
-    } else {
-      return static_cast<size_t>(_index);
-    }
+    return static_cast<size_t>(_index);
   }
 
 private:
@@ -837,7 +827,7 @@ template <typename F> class Unwinder {
     uintptr_t ip = _Unwind_GetIPInfo(ctx, &ip_before_instruction);
 
     if (!ip_before_instruction) {
-      // calculating 0-1 for unsigned, looks like a possible bug to sanitizers,
+      // calculating 0-1 for unsigned, looks like a possible bug to sanitiziers,
       // so let's do it explicitly:
       if (ip == 0) {
         ip = std::numeric_limits<uintptr_t>::max(); // set it to 0xffff... (as
@@ -954,7 +944,7 @@ class StackTraceImpl<system_tag::current_tag> : public StackTraceImplHolder {
           reinterpret_cast<void *>(uctx->uc_mcontext.gregs[REG_EIP]);
       ++index;
       ctx = *reinterpret_cast<unw_context_t *>(uctx);
-#elif defined(__arm__)     // clang libunwind/arm
+#elif defined(__arm__)
       // libunwind uses its own context type for ARM unwinding.
       // Copy the registers from the signal handler's context so we can
       // unwind
@@ -985,24 +975,6 @@ class StackTraceImpl<system_tag::current_tag> : public StackTraceImplHolder {
       }
       _stacktrace[index] = reinterpret_cast<void *>(ctx.regs[UNW_ARM_R15]);
       ++index;
-#elif defined(__aarch64__) // gcc libunwind/arm64
-      unw_getcontext(&ctx);
-      // If the IP is the same as the crash address we have a bad function
-      // dereference The caller's address is pointed to by the link pointer, so
-      // we dereference that value and set it to be the next frame's IP.
-      if (uctx->uc_mcontext.pc == reinterpret_cast<__uint64_t>(error_addr())) {
-        uctx->uc_mcontext.pc = uctx->uc_mcontext.regs[UNW_TDEP_IP];
-      }
-
-      // 29 general purpose registers
-      for (int i = UNW_AARCH64_X0; i <= UNW_AARCH64_X28; i++) {
-        ctx.uc_mcontext.regs[i] = uctx->uc_mcontext.regs[i];
-      }
-      ctx.uc_mcontext.sp = uctx->uc_mcontext.sp;
-      ctx.uc_mcontext.pc = uctx->uc_mcontext.pc;
-      ctx.uc_mcontext.fault_address = uctx->uc_mcontext.fault_address;
-      _stacktrace[index] = reinterpret_cast<void *>(ctx.uc_mcontext.pc);
-      ++index;
 #elif defined(__APPLE__) && defined(__x86_64__)
       unw_getcontext(&ctx);
       // OS X's implementation of libunwind uses its own context object
@@ -1252,7 +1224,7 @@ class TraceResolverImplBase {
   }
 
   template <class ST> void load_stacktrace(ST &st) {
-    load_addresses(st.begin(), static_cast<int>(st.size()));
+    load_addresses(st.begin(), (int)st.size());
   }
 
   virtual ResolvedTrace resolve(ResolvedTrace t) { return t; }
@@ -1477,7 +1449,7 @@ class TraceResolverLinuxImpl<trace_resolver_tag::libbfd>
     // line of the function that was called. But if the code is optimized,
     // we might get something absolutely not related since the compiler
     // can reschedule the return address with inline functions and
-    // tail-call optimization (among other things that I don't even know
+    // tail-call optimisation (among other things that I don't even know
     // or cannot even dream about with my tiny limited brain).
     find_sym_result details_adjusted_call_site = find_symbol_details(
         fobj, (void *)(uintptr_t(trace.addr) - 1), symbol_info.dli_fbase);
@@ -1508,7 +1480,7 @@ class TraceResolverLinuxImpl<trace_resolver_tag::libbfd>
         // this time we get the name of the function where the code is
         // located, instead of the function were the address is
         // located. In short, if the code was inlined, we get the
-        // function corresponding to the code. Else we already got in
+        // function correspoding to the code. Else we already got in
         // trace.function.
         trace.source.function = demangle(details_selected->funcname);
 
@@ -1577,7 +1549,7 @@ class TraceResolverLinuxImpl<trace_resolver_tag::libbfd>
   bool _bfd_loaded;
 
   typedef details::handle<bfd *,
-                          details::deleter<bfd_boolean, bfd *, &bfd_close> >
+                          details::deleter<bfd_boolean, bfd *, &bfd_close>>
       bfd_handle_t;
 
   typedef details::handle<asymbol **> bfd_symtab_t;
@@ -1723,7 +1695,7 @@ class TraceResolverLinuxImpl<trace_resolver_tag::libbfd>
 
     // are we in the boundaries of the section?
     if (addr < sec_addr || addr >= sec_addr + size) {
-      addr -= base_addr; // oops, a relocated object, lets try again...
+      addr -= base_addr; // oups, a relocated object, lets try again...
       if (addr < sec_addr || addr >= sec_addr + size) {
         return;
       }
@@ -1802,7 +1774,7 @@ class TraceResolverLinuxImpl<trace_resolver_tag::libdw>
   ResolvedTrace resolve(ResolvedTrace trace) override {
     using namespace details;
 
-    Dwarf_Addr trace_addr = reinterpret_cast<Dwarf_Addr>(trace.addr);
+    Dwarf_Addr trace_addr = (Dwarf_Addr)trace.addr;
 
     if (!_dwfl_handle_initialized) {
       // initialize dwfl...
@@ -1934,8 +1906,8 @@ class TraceResolverLinuxImpl<trace_resolver_tag::libdw>
       int line = 0, col = 0;
       dwarf_lineno(srcloc, &line);
       dwarf_linecol(srcloc, &col);
-      trace.source.line = static_cast<unsigned>(line);
-      trace.source.col = static_cast<unsigned>(col);
+      trace.source.line = line;
+      trace.source.col = col;
     }
 
     deep_first_search_by_pc(cudie, trace_addr - mod_bias,
@@ -1949,9 +1921,9 @@ class TraceResolverLinuxImpl<trace_resolver_tag::libdw>
   }
 
 private:
-  typedef details::handle<Dwfl *, details::deleter<void, Dwfl *, &dwfl_end> >
+  typedef details::handle<Dwfl *, details::deleter<void, Dwfl *, &dwfl_end>>
       dwfl_handle_t;
-  details::handle<Dwfl_Callbacks *, details::default_delete<Dwfl_Callbacks *> >
+  details::handle<Dwfl_Callbacks *, details::default_delete<Dwfl_Callbacks *>>
       _dwfl_cb;
   dwfl_handle_t _dwfl_handle;
   bool _dwfl_handle_initialized;
@@ -1982,8 +1954,8 @@ class TraceResolverLinuxImpl<trace_resolver_tag::libdw>
         Dwarf_Word line = 0, col = 0;
         dwarf_formudata(dwarf_attr(die, DW_AT_call_line, &attr_mem), &line);
         dwarf_formudata(dwarf_attr(die, DW_AT_call_column, &attr_mem), &col);
-        sloc.line = static_cast<unsigned>(line);
-        sloc.col = static_cast<unsigned>(col);
+        sloc.line = (unsigned)line;
+        sloc.col = (unsigned)col;
 
         trace.inliners.push_back(sloc);
         break;
@@ -2273,14 +2245,14 @@ class TraceResolverLinuxImpl<trace_resolver_tag::libdwarf>
 private:
   bool _dwarf_loaded;
 
-  typedef details::handle<int, details::deleter<int, int, &::close> >
+  typedef details::handle<int, details::deleter<int, int, &::close>>
       dwarf_file_t;
 
-  typedef details::handle<Elf *, details::deleter<int, Elf *, &elf_end> >
+  typedef details::handle<Elf *, details::deleter<int, Elf *, &elf_end>>
       dwarf_elf_t;
 
   typedef details::handle<Dwarf_Debug,
-                          details::deleter<int, Dwarf_Debug, &close_dwarf> >
+                          details::deleter<int, Dwarf_Debug, &close_dwarf>>
       dwarf_handle_t;
 
   typedef std::map<Dwarf_Addr, int> die_linemap_t;
@@ -3638,12 +3610,10 @@ template <> class TraceResolverImpl<system_tag::windows_tag>
     symOptions |= SYMOPT_LOAD_LINES | SYMOPT_UNDNAME;
     SymSetOptions(symOptions);
     EnumProcessModules(process, &module_handles[0],
-                       static_cast<DWORD>(module_handles.size() * sizeof(HMODULE)),
-		       &cbNeeded);
+                       module_handles.size() * sizeof(HMODULE), &cbNeeded);
     module_handles.resize(cbNeeded / sizeof(HMODULE));
     EnumProcessModules(process, &module_handles[0],
-                       static_cast<DWORD>(module_handles.size() * sizeof(HMODULE)),
-		       &cbNeeded);
+                       module_handles.size() * sizeof(HMODULE), &cbNeeded);
     std::transform(module_handles.begin(), module_handles.end(),
                    std::back_inserter(modules), get_mod_info(process));
     void *base = modules[0].base_address;
@@ -3716,7 +3686,7 @@ class TraceResolver : public TraceResolverImpl<system_tag::current_tag> {};
 
 class SourceFile {
 public:
-  typedef std::vector<std::pair<unsigned, std::string> > lines_t;
+  typedef std::vector<std::pair<unsigned, std::string>> lines_t;
 
   SourceFile() {}
   SourceFile(const std::string &path) {
@@ -3827,18 +3797,11 @@ class SourceFile {
   }
 #endif
 
-  // Allow adding to paths gotten from BACKWARD_CXX_SOURCE_PREFIXES after loading the
-  // library; this can be useful when the library is loaded when the locations are unknown
-  // Warning: Because this edits the static paths variable, it is *not* intrinsiclly thread safe
-  static void add_paths_to_env_variable_impl(const std::string & to_add) {
-    get_mutable_paths_from_env_variable().push_back(to_add);
-  }
-
 private:
-  details::handle<std::ifstream *, details::default_delete<std::ifstream *> >
+  details::handle<std::ifstream *, details::default_delete<std::ifstream *>>
       _file;
 
-  static std::vector<std::string> get_paths_from_env_variable_impl() {
+  std::vector<std::string> get_paths_from_env_variable_impl() {
     std::vector<std::string> paths;
     const char *prefixes_str = std::getenv("BACKWARD_CXX_SOURCE_PREFIXES");
     if (prefixes_str && prefixes_str[0]) {
@@ -3847,13 +3810,9 @@ class SourceFile {
     return paths;
   }
 
-  static std::vector<std::string> &get_mutable_paths_from_env_variable() {
-    static volatile std::vector<std::string> paths = get_paths_from_env_variable_impl();
-    return const_cast<std::vector<std::string>&>(paths);
-  }
-
-  static const std::vector<std::string> &get_paths_from_env_variable() {
-    return get_mutable_paths_from_env_variable();
+  const std::vector<std::string> &get_paths_from_env_variable() {
+    static std::vector<std::string> paths = get_paths_from_env_variable_impl();
+    return paths;
   }
 
 #ifdef BACKWARD_ATLEAST_CXX11
@@ -4021,12 +3980,10 @@ class Printer {
   bool object;
   int inliner_context_size;
   int trace_context_size;
-  bool reverse;
 
   Printer()
       : snippet(true), color_mode(ColorMode::automatic), address(false),
-        object(false), inliner_context_size(5), trace_context_size(7),
-        reverse(true) {}
+        object(false), inliner_context_size(5), trace_context_size(7) {}
 
   template <typename ST> FILE *print(ST &st, FILE *fp = stderr) {
     cfile_streambuf obuf(fp);
@@ -4073,14 +4030,8 @@ class Printer {
   void print_stacktrace(ST &st, std::ostream &os, Colorize &colorize) {
     print_header(os, st.thread_id());
     _resolver.load_stacktrace(st);
-    if ( reverse ) {
-      for (size_t trace_idx = st.size(); trace_idx > 0; --trace_idx) {
-        print_trace(os, _resolver.resolve(st[trace_idx - 1]), colorize);
-      }
-    } else {
-      for (size_t trace_idx = 0; trace_idx < st.size(); ++trace_idx) {
-        print_trace(os, _resolver.resolve(st[trace_idx]), colorize);
-      }
+    for (size_t trace_idx = st.size(); trace_idx > 0; --trace_idx) {
+      print_trace(os, _resolver.resolve(st[trace_idx - 1]), colorize);
     }
   }
 
@@ -4294,8 +4245,7 @@ class SignalHandling {
     printer.address = true;
     printer.print(st, stderr);
 
-#if (defined(_XOPEN_SOURCE) && _XOPEN_SOURCE >= 700) || \
-    (defined(_POSIX_C_SOURCE) && _POSIX_C_SOURCE >= 200809L)
+#if _XOPEN_SOURCE >= 700 || _POSIX_C_SOURCE >= 200809L
     psiginfo(info, nullptr);
 #else
     (void)info;
@@ -4410,7 +4360,7 @@ class SignalHandling {
   static const constexpr int signal_skip_recs =
 #ifdef __clang__
       // With clang, RtlCaptureContext also captures the stack frame of the
-      // current function Below that, there are 3 internal Windows functions
+      // current function Below that, there ar 3 internal Windows functions
       4
 #else
       // With MSVC cl, RtlCaptureContext misses the stack frame of the current

From 965d46370d963dcb59ccee282377aad9a3b6dbc5 Mon Sep 17 00:00:00 2001
From: Jose Luis Rivero <jrivero@honurobotics.com>
Date: Wed, 21 May 2025 17:35:42 +0200
Subject: [PATCH 2/9] Rename the backwards vendor dir

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>
---
 .../backward_vendor => vendor}/backward-cpp/BackwardConfig.cmake  | 0
 {test/backward_vendor => vendor}/backward-cpp/CMakeLists.txt      | 0
 {test/backward_vendor => vendor}/backward-cpp/LICENSE.txt         | 0
 {test/backward_vendor => vendor}/backward-cpp/backward.cpp        | 0
 {test/backward_vendor => vendor}/backward-cpp/backward.hpp        | 0
 5 files changed, 0 insertions(+), 0 deletions(-)
 rename {test/backward_vendor => vendor}/backward-cpp/BackwardConfig.cmake (100%)
 rename {test/backward_vendor => vendor}/backward-cpp/CMakeLists.txt (100%)
 rename {test/backward_vendor => vendor}/backward-cpp/LICENSE.txt (100%)
 rename {test/backward_vendor => vendor}/backward-cpp/backward.cpp (100%)
 rename {test/backward_vendor => vendor}/backward-cpp/backward.hpp (100%)

diff --git a/test/backward_vendor/backward-cpp/BackwardConfig.cmake b/vendor/backward-cpp/BackwardConfig.cmake
similarity index 100%
rename from test/backward_vendor/backward-cpp/BackwardConfig.cmake
rename to vendor/backward-cpp/BackwardConfig.cmake
diff --git a/test/backward_vendor/backward-cpp/CMakeLists.txt b/vendor/backward-cpp/CMakeLists.txt
similarity index 100%
rename from test/backward_vendor/backward-cpp/CMakeLists.txt
rename to vendor/backward-cpp/CMakeLists.txt
diff --git a/test/backward_vendor/backward-cpp/LICENSE.txt b/vendor/backward-cpp/LICENSE.txt
similarity index 100%
rename from test/backward_vendor/backward-cpp/LICENSE.txt
rename to vendor/backward-cpp/LICENSE.txt
diff --git a/test/backward_vendor/backward-cpp/backward.cpp b/vendor/backward-cpp/backward.cpp
similarity index 100%
rename from test/backward_vendor/backward-cpp/backward.cpp
rename to vendor/backward-cpp/backward.cpp
diff --git a/test/backward_vendor/backward-cpp/backward.hpp b/vendor/backward-cpp/backward.hpp
similarity index 100%
rename from test/backward_vendor/backward-cpp/backward.hpp
rename to vendor/backward-cpp/backward.hpp

From fd0edc98262394385bd9a4440022f350a81c1136 Mon Sep 17 00:00:00 2001
From: Jose Luis Rivero <jrivero@honurobotics.com>
Date: Wed, 21 May 2025 17:43:45 +0200
Subject: [PATCH 3/9] Use backwards in gz-sim-gui and gz-sim-main

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>
---
 CMakeLists.txt         | 11 +++++++++--
 src/cmd/CMakeLists.txt |  6 ++++--
 test/CMakeLists.txt    |  1 -
 3 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 67f775b6fe..bf22d7cb98 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -32,10 +32,17 @@ else()
   add_definitions("-DGZ_PROFILER_ENABLE=0")
 endif()
 
+#--------------------------------------
+# Find Backward-cpp for stack trace support
+# See https://github.com/gazebosim/gz-cmake/issues/477 before copy this code
+find_package(Backward REQUIRED
+  HINTS ${CMAKE_CURRENT_SOURCE_DIR}/vendor/backward-cpp
+  NO_DEFAULT_PATH)
+
 if (UNIX AND NOT APPLE)
-  set (EXTRA_TEST_LIB_DEPS stdc++fs backward_object)
+  set (EXTRA_TEST_LIB_DEPS stdc++fs Backward::Backward)
 else()
-  set (EXTRA_TEST_LIB_DEPS backward_object)
+  set (EXTRA_TEST_LIB_DEPS Backward::Backward)
 endif()
 
 # We're disabling pybind11 by default on Windows because they
diff --git a/src/cmd/CMakeLists.txt b/src/cmd/CMakeLists.txt
index cb2d37bb8c..993495d383 100644
--- a/src/cmd/CMakeLists.txt
+++ b/src/cmd/CMakeLists.txt
@@ -25,7 +25,9 @@ if(ENABLE_GUI)
   target_link_libraries(gz gz-sim-gui)
 
   add_executable(gz-sim-gui-client gui_main.cc)
-  target_link_libraries(gz-sim-gui-client PRIVATE gz)
+  target_link_libraries(gz-sim-gui-client
+    PUBLIC Backward::Backward
+    PRIVATE gz)
 
   install(
     TARGETS gz-sim-gui-client
@@ -36,7 +38,7 @@ endif()
 # Create sim main executable
 set(sim_executable gz-sim-main)
 add_executable(${sim_executable} sim_main.cc)
-target_link_libraries(${sim_executable} PRIVATE gz)
+target_link_libraries(${sim_executable} PUBLIC gz Backward::Backward)
 
 install(
   TARGETS ${sim_executable}
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 4caf48b3ca..0436a5fc32 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -5,7 +5,6 @@ include_directories (
   ${PROJECT_BINARY_DIR}/include
 )
 
-add_subdirectory(backward_vendor/backward-cpp)
 add_subdirectory(gtest_vendor)
 add_subdirectory(benchmark)
 add_subdirectory(integration)

From 42383a5400b7c83a01549a2082f392277fe8fd02 Mon Sep 17 00:00:00 2001
From: Jose Luis Rivero <jrivero@honurobotics.com>
Date: Thu, 22 May 2025 17:42:33 +0200
Subject: [PATCH 4/9] Use backwards header and signal handler

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>
---
 src/cmd/CMakeLists.txt | 7 ++++---
 src/cmd/gui_main.cc    | 4 ++++
 src/cmd/gz.cc          | 1 +
 src/cmd/sim_main.cc    | 3 +++
 4 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/src/cmd/CMakeLists.txt b/src/cmd/CMakeLists.txt
index 993495d383..9693143da8 100644
--- a/src/cmd/CMakeLists.txt
+++ b/src/cmd/CMakeLists.txt
@@ -15,6 +15,7 @@ install(
 add_library(gz STATIC gz.cc)
 target_link_libraries(gz
   ${PROJECT_LIBRARY_TARGET_NAME}
+  Backward::Backward
   gz-common::gz-common
   gz-utils::cli
   gz-sim
@@ -26,8 +27,7 @@ if(ENABLE_GUI)
 
   add_executable(gz-sim-gui-client gui_main.cc)
   target_link_libraries(gz-sim-gui-client
-    PUBLIC Backward::Backward
-    PRIVATE gz)
+    PRIVATE gz Backward::Backward)
 
   install(
     TARGETS gz-sim-gui-client
@@ -38,7 +38,8 @@ endif()
 # Create sim main executable
 set(sim_executable gz-sim-main)
 add_executable(${sim_executable} sim_main.cc)
-target_link_libraries(${sim_executable} PUBLIC gz Backward::Backward)
+target_link_libraries(${sim_executable} PUBLIC gz
+  PRIVATE Backward::Backward)
 
 install(
   TARGETS ${sim_executable}
diff --git a/src/cmd/gui_main.cc b/src/cmd/gui_main.cc
index 76e55cdcdd..7e5db3af49 100644
--- a/src/cmd/gui_main.cc
+++ b/src/cmd/gui_main.cc
@@ -15,6 +15,8 @@
  *
 */
 
+#include <backward.hpp>
+
 #include <gz/utils/cli/CLI.hpp>
 #include <gz/utils/cli/GzFormatter.hpp>
 #include <gz/utils/Environment.hh>
@@ -24,6 +26,8 @@
 
 using namespace gz;
 
+backward::SignalHandling sh;
+
 //////////////////////////////////////////////////
 /// \brief Structure to hold all available GUI launch options
 struct GuiOptions
diff --git a/src/cmd/gz.cc b/src/cmd/gz.cc
index ebc13e9ce5..a685a93b5b 100644
--- a/src/cmd/gz.cc
+++ b/src/cmd/gz.cc
@@ -17,6 +17,7 @@
 
 #include "gz.hh"
 
+#include <backward.hpp>
 #include <cstring>
 #include <filesystem>
 #include <fstream>
diff --git a/src/cmd/sim_main.cc b/src/cmd/sim_main.cc
index 5580485edf..2c89610826 100644
--- a/src/cmd/sim_main.cc
+++ b/src/cmd/sim_main.cc
@@ -15,6 +15,7 @@
  *
 */
 
+#include <backward.hpp>
 #include <iostream>
 #include <string>
 #include <vector>
@@ -34,6 +35,8 @@
 #include "gz/sim/ServerConfig.hh"
 #include "gz.hh"
 
+backward::SignalHandling sh;
+
 using namespace gz;
 
 //////////////////////////////////////////////////

From 255dd435e5d3cb106f5894b03782d4260f4a1a45 Mon Sep 17 00:00:00 2001
From: Jose Luis Rivero <jrivero@honurobotics.com>
Date: Thu, 22 May 2025 17:52:26 +0200
Subject: [PATCH 5/9] Revert "Use backwards header and signal handler"

This reverts commit 42383a5400b7c83a01549a2082f392277fe8fd02.
---
 src/cmd/CMakeLists.txt | 7 +++----
 src/cmd/gui_main.cc    | 4 ----
 src/cmd/gz.cc          | 1 -
 src/cmd/sim_main.cc    | 3 ---
 4 files changed, 3 insertions(+), 12 deletions(-)

diff --git a/src/cmd/CMakeLists.txt b/src/cmd/CMakeLists.txt
index 9693143da8..993495d383 100644
--- a/src/cmd/CMakeLists.txt
+++ b/src/cmd/CMakeLists.txt
@@ -15,7 +15,6 @@ install(
 add_library(gz STATIC gz.cc)
 target_link_libraries(gz
   ${PROJECT_LIBRARY_TARGET_NAME}
-  Backward::Backward
   gz-common::gz-common
   gz-utils::cli
   gz-sim
@@ -27,7 +26,8 @@ if(ENABLE_GUI)
 
   add_executable(gz-sim-gui-client gui_main.cc)
   target_link_libraries(gz-sim-gui-client
-    PRIVATE gz Backward::Backward)
+    PUBLIC Backward::Backward
+    PRIVATE gz)
 
   install(
     TARGETS gz-sim-gui-client
@@ -38,8 +38,7 @@ endif()
 # Create sim main executable
 set(sim_executable gz-sim-main)
 add_executable(${sim_executable} sim_main.cc)
-target_link_libraries(${sim_executable} PUBLIC gz
-  PRIVATE Backward::Backward)
+target_link_libraries(${sim_executable} PUBLIC gz Backward::Backward)
 
 install(
   TARGETS ${sim_executable}
diff --git a/src/cmd/gui_main.cc b/src/cmd/gui_main.cc
index 7e5db3af49..76e55cdcdd 100644
--- a/src/cmd/gui_main.cc
+++ b/src/cmd/gui_main.cc
@@ -15,8 +15,6 @@
  *
 */
 
-#include <backward.hpp>
-
 #include <gz/utils/cli/CLI.hpp>
 #include <gz/utils/cli/GzFormatter.hpp>
 #include <gz/utils/Environment.hh>
@@ -26,8 +24,6 @@
 
 using namespace gz;
 
-backward::SignalHandling sh;
-
 //////////////////////////////////////////////////
 /// \brief Structure to hold all available GUI launch options
 struct GuiOptions
diff --git a/src/cmd/gz.cc b/src/cmd/gz.cc
index a685a93b5b..ebc13e9ce5 100644
--- a/src/cmd/gz.cc
+++ b/src/cmd/gz.cc
@@ -17,7 +17,6 @@
 
 #include "gz.hh"
 
-#include <backward.hpp>
 #include <cstring>
 #include <filesystem>
 #include <fstream>
diff --git a/src/cmd/sim_main.cc b/src/cmd/sim_main.cc
index 2c89610826..5580485edf 100644
--- a/src/cmd/sim_main.cc
+++ b/src/cmd/sim_main.cc
@@ -15,7 +15,6 @@
  *
 */
 
-#include <backward.hpp>
 #include <iostream>
 #include <string>
 #include <vector>
@@ -35,8 +34,6 @@
 #include "gz/sim/ServerConfig.hh"
 #include "gz.hh"
 
-backward::SignalHandling sh;
-
 using namespace gz;
 
 //////////////////////////////////////////////////

From 454f13a7830b4354128d58913fd68c84af8b025e Mon Sep 17 00:00:00 2001
From: Jose Luis Rivero <jrivero@honurobotics.com>
Date: Thu, 22 May 2025 18:04:14 +0200
Subject: [PATCH 6/9] Use backwards.cpp instead of backwards.hpp

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>
---
 src/cmd/CMakeLists.txt | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/src/cmd/CMakeLists.txt b/src/cmd/CMakeLists.txt
index 993495d383..865107fede 100644
--- a/src/cmd/CMakeLists.txt
+++ b/src/cmd/CMakeLists.txt
@@ -12,9 +12,10 @@ install(
 )
 
 # Create sim utilies library
-add_library(gz STATIC gz.cc)
+add_library(gz STATIC gz.cc "${Backward_DIR}/backward.cpp")
 target_link_libraries(gz
   ${PROJECT_LIBRARY_TARGET_NAME}
+  Backward::Backward
   gz-common::gz-common
   gz-utils::cli
   gz-sim
@@ -24,7 +25,7 @@ target_link_libraries(gz
 if(ENABLE_GUI)
   target_link_libraries(gz gz-sim-gui)
 
-  add_executable(gz-sim-gui-client gui_main.cc)
+  add_executable(gz-sim-gui-client gui_main.cc "${Backward_DIR}/backward.cpp")
   target_link_libraries(gz-sim-gui-client
     PUBLIC Backward::Backward
     PRIVATE gz)
@@ -37,7 +38,7 @@ endif()
 
 # Create sim main executable
 set(sim_executable gz-sim-main)
-add_executable(${sim_executable} sim_main.cc)
+add_executable(${sim_executable} sim_main.cc "${Backward_DIR}/backward.cpp")
 target_link_libraries(${sim_executable} PUBLIC gz Backward::Backward)
 
 install(

From 5d531b2afc165fa2e6830df789d97460840dc657 Mon Sep 17 00:00:00 2001
From: Jose Luis Rivero <jrivero@honurobotics.com>
Date: Fri, 23 May 2025 13:37:46 +0200
Subject: [PATCH 7/9] Update backwards to
 0bfd0a07a61551413ccd2ab9a9099af3bad40681

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>
---
 vendor/backward-cpp/BackwardConfig.cmake |  87 +++++++-----
 vendor/backward-cpp/CMakeLists.txt       |  71 +++++++---
 vendor/backward-cpp/backward.hpp         | 166 ++++++++++++++++-------
 3 files changed, 225 insertions(+), 99 deletions(-)

diff --git a/vendor/backward-cpp/BackwardConfig.cmake b/vendor/backward-cpp/BackwardConfig.cmake
index a982adcd64..7f6b3cb1dd 100644
--- a/vendor/backward-cpp/BackwardConfig.cmake
+++ b/vendor/backward-cpp/BackwardConfig.cmake
@@ -43,12 +43,6 @@ set(STACK_DETAILS_BFD FALSE CACHE BOOL
 set(STACK_DETAILS_DWARF FALSE CACHE BOOL
 	"Use libdwarf/libelf to read debug info")
 
-if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR AND NOT DEFINED BACKWARD_TESTS)
-	# If this is a top level CMake project, we most lixely want the tests
-	set(BACKWARD_TESTS ON CACHE BOOL "Enable tests")
-else()
-	set(BACKWARD_TESTS OFF CACHE BOOL "Enable tests")
-endif()
 ###############################################################################
 # CONFIGS
 ###############################################################################
@@ -79,7 +73,7 @@ if (STACK_WALKING_LIBUNWIND)
 
 	# Disable other unwinders if libunwind is found
 	set(STACK_WALKING_UNWIND FALSE)
-	set(STACK_WALKING_BACKTRACE FALSE)	
+	set(STACK_WALKING_BACKTRACE FALSE)
 endif()
 
 if (${STACK_DETAILS_AUTO_DETECT})
@@ -89,8 +83,21 @@ if (${STACK_DETAILS_AUTO_DETECT})
 	# find libdw
 	find_path(LIBDW_INCLUDE_DIR NAMES "elfutils/libdw.h" "elfutils/libdwfl.h")
 	find_library(LIBDW_LIBRARY dw)
+	# in case it's statically linked, look for all the possible dependencies
+	find_library(LIBELF_LIBRARY elf)
+	find_library(LIBPTHREAD_LIBRARY pthread)
+	find_library(LIBZ_LIBRARY z)
+	find_library(LIBBZ2_LIBRARY bz2)
+	find_library(LIBLZMA_LIBRARY lzma)
+	find_library(LIBZSTD_LIBRARY zstd)
 	set(LIBDW_INCLUDE_DIRS ${LIBDW_INCLUDE_DIR} )
-	set(LIBDW_LIBRARIES ${LIBDW_LIBRARY} )
+	set(LIBDW_LIBRARIES ${LIBDW_LIBRARY}
+		$<$<BOOL:${LIBELF_LIBRARY}>:${LIBELF_LIBRARY}>
+		$<$<BOOL:${LIBPTHREAD_LIBRARY}>:${LIBPTHREAD_LIBRARY}>
+		$<$<BOOL:${LIBZ_LIBRARY}>:${LIBZ_LIBRARY}>
+		$<$<BOOL:${LIBBZ2_LIBRARY}>:${LIBBZ2_LIBRARY}>
+		$<$<BOOL:${LIBLZMA_LIBRARY}>:${LIBLZMA_LIBRARY}>
+		$<$<BOOL:${LIBZSTD_LIBRARY}>:${LIBZSTD_LIBRARY}>)
 	find_package_handle_standard_args(libdw ${_name_mismatched_arg}
 		REQUIRED_VARS LIBDW_LIBRARY LIBDW_INCLUDE_DIR)
 	mark_as_advanced(LIBDW_INCLUDE_DIR LIBDW_LIBRARY)
@@ -139,6 +146,11 @@ if (${STACK_DETAILS_AUTO_DETECT})
 		# If we attempt to link against static bfd, make sure to link its dependencies, too
 		get_filename_component(bfd_lib_ext "${LIBBFD_LIBRARY}" EXT)
 		if (bfd_lib_ext STREQUAL "${CMAKE_STATIC_LIBRARY_SUFFIX}")
+			find_library(LIBSFRAME_LIBRARY NAMES sframe)
+			if (LIBSFRAME_LIBRARY)
+				list(APPEND _BACKWARD_LIBRARIES ${LIBSFRAME_LIBRARY})
+			endif()
+
 			list(APPEND _BACKWARD_LIBRARIES iberty z)
 		endif()
 
@@ -190,14 +202,24 @@ if (NOT _BACKWARD_DEFINITIONS)
 endif()
 
 if(WIN32)
-    list(APPEND _BACKWARD_LIBRARIES dbghelp psapi)
+	list(APPEND _BACKWARD_LIBRARIES dbghelp psapi)
 	if(MINGW)
-	    set(MINGW_MSVCR_LIBRARY "msvcr90$<$<CONFIG:DEBUG>:d>" CACHE STRING "Mingw MSVC runtime import library")
-	    list(APPEND _BACKWARD_LIBRARIES ${MINGW_MSVCR_LIBRARY})
-	endif()
+		include(CheckCXXCompilerFlag)
+		check_cxx_compiler_flag(-gcodeview SUPPORT_WINDOWS_DEBUG_INFO)	
+		if(SUPPORT_WINDOWS_DEBUG_INFO)
+			set(CMAKE_EXE_LINKER_FLAGS "-Wl,--pdb= ")
+			add_compile_options(-gcodeview)
+		else()
+			set(MINGW_MSVCR_LIBRARY "msvcr90$<$<CONFIG:DEBUG>:d>" CACHE STRING "Mingw MSVC runtime import library")
+			list(APPEND _BACKWARD_LIBRARIES ${MINGW_MSVCR_LIBRARY})
+		endif()
+	endif()	
 endif()
 
-set(BACKWARD_INCLUDE_DIR "${CMAKE_CURRENT_LIST_DIR}")
+set(BACKWARD_INCLUDE_DIR
+	$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+	$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
+)
 
 set(BACKWARD_HAS_EXTERNAL_LIBRARIES FALSE)
 set(FIND_PACKAGE_REQUIRED_VARS BACKWARD_INCLUDE_DIR)
@@ -208,17 +230,25 @@ endif()
 
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(Backward
-    REQUIRED_VARS ${FIND_PACKAGE_REQUIRED_VARS}
+	REQUIRED_VARS ${FIND_PACKAGE_REQUIRED_VARS}
 )
 list(APPEND _BACKWARD_INCLUDE_DIRS ${BACKWARD_INCLUDE_DIR})
 
+# add_backward, optional bool argument; if passed and true, backward will be included as a system header
 macro(add_backward target)
-	target_include_directories(${target} PRIVATE ${BACKWARD_INCLUDE_DIRS})
+	message(DEPRECATION "The add_backward() macro is deprecated, use target_link_libraries() to link to "
+	        "one of the exported targets: Backward::Interface, Backward::Object, or Backward::Backward."
+	)
+	if ("${ARGN}")
+		target_include_directories(${target} SYSTEM PRIVATE ${BACKWARD_INCLUDE_DIRS})
+	else()
+		target_include_directories(${target} PRIVATE ${BACKWARD_INCLUDE_DIRS})
+	endif()
 	set_property(TARGET ${target} APPEND PROPERTY COMPILE_DEFINITIONS ${BACKWARD_DEFINITIONS})
 	set_property(TARGET ${target} APPEND PROPERTY LINK_LIBRARIES ${BACKWARD_LIBRARIES})
 endmacro()
 
-set(BACKWARD_INCLUDE_DIRS ${_BACKWARD_INCLUDE_DIRS} CACHE INTERNAL "_BACKWARD_INCLUDE_DIRS")
+set(BACKWARD_INCLUDE_DIRS ${_BACKWARD_INCLUDE_DIRS} CACHE INTERNAL "BACKWARD_INCLUDE_DIRS")
 set(BACKWARD_DEFINITIONS ${_BACKWARD_DEFINITIONS} CACHE INTERNAL "BACKWARD_DEFINITIONS")
 set(BACKWARD_LIBRARIES ${_BACKWARD_LIBRARIES} CACHE INTERNAL "BACKWARD_LIBRARIES")
 mark_as_advanced(BACKWARD_INCLUDE_DIRS BACKWARD_DEFINITIONS BACKWARD_LIBRARIES)
@@ -226,22 +256,15 @@ mark_as_advanced(BACKWARD_INCLUDE_DIRS BACKWARD_DEFINITIONS BACKWARD_LIBRARIES)
 # Expand each definition in BACKWARD_DEFINITIONS to its own cmake var and export
 # to outer scope
 foreach(var ${BACKWARD_DEFINITIONS})
-  string(REPLACE "=" ";" var_as_list ${var})
-  list(GET var_as_list 0 var_name)
-  list(GET var_as_list 1 var_value)
-  set(${var_name} ${var_value})
-  mark_as_advanced(${var_name})
+	string(REPLACE "=" ";" var_as_list ${var})
+	list(GET var_as_list 0 var_name)
+	list(GET var_as_list 1 var_value)
+	set(${var_name} ${var_value})
+	mark_as_advanced(${var_name})
 endforeach()
 
-if (NOT TARGET Backward::Backward)
-	add_library(Backward::Backward INTERFACE IMPORTED)
-	set_target_properties(Backward::Backward PROPERTIES
-	    INTERFACE_INCLUDE_DIRECTORIES "${BACKWARD_INCLUDE_DIRS}"
-	    INTERFACE_COMPILE_DEFINITIONS "${BACKWARD_DEFINITIONS}"
-	)
-	if(BACKWARD_HAS_EXTERNAL_LIBRARIES)
-		set_target_properties(Backward::Backward PROPERTIES
-			INTERFACE_LINK_LIBRARIES "${BACKWARD_LIBRARIES}" 
-		)
-	endif()
+# if this file is used from the install tree by find_package(), include the
+# file CMake-generated file where the targets are defined
+if(EXISTS ${CMAKE_CURRENT_LIST_DIR}/BackwardTargets.cmake)
+	include(${CMAKE_CURRENT_LIST_DIR}/BackwardTargets.cmake)
 endif()
diff --git a/vendor/backward-cpp/CMakeLists.txt b/vendor/backward-cpp/CMakeLists.txt
index 97327ccd17..e625f8ac97 100644
--- a/vendor/backward-cpp/CMakeLists.txt
+++ b/vendor/backward-cpp/CMakeLists.txt
@@ -20,7 +20,7 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 3.14)
 project(backward CXX)
 
 # Introduce variables:
@@ -31,6 +31,22 @@ include(GNUInstallDirs)
 
 include(BackwardConfig.cmake)
 
+###############################################################################
+# OPTIONS
+###############################################################################
+
+option(BACKWARD_SHARED "Build backward as a shared library" OFF)
+if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR AND NOT DEFINED BACKWARD_TESTS)
+	# If this is a top level CMake project, we most lixely want the tests
+	set(BACKWARD_TESTS ON CACHE BOOL "Enable tests")
+else()
+	set(BACKWARD_TESTS OFF CACHE BOOL "Enable tests")
+endif()
+
+###############################################################################
+# COMPILER FLAGS
+###############################################################################
+
 # check if compiler is nvcc or nvcc_wrapper
 set(COMPILER_IS_NVCC false)
 get_filename_component(COMPILER_NAME ${CMAKE_CXX_COMPILER} NAME)
@@ -52,10 +68,6 @@ if (${COMPILER_IS_NVCC})
   set(CMAKE_CXX_EXTENSIONS OFF)
 endif()
 
-###############################################################################
-# COMPILER FLAGS
-###############################################################################
-
 if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_COMPILER_IS_GNUCXX)
 	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
 	if (NOT ${COMPILER_IS_NVCC})
@@ -65,27 +77,43 @@ if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_COMPILER_IS_GNUCXX)
 endif()
 
 ###############################################################################
-# BACKWARD OBJECT
+# BACKWARD INTERFACE
 ###############################################################################
 
-add_library(backward_object OBJECT backward.cpp)
-target_compile_definitions(backward_object PRIVATE ${BACKWARD_DEFINITIONS})
-target_include_directories(backward_object PRIVATE ${BACKWARD_INCLUDE_DIRS})
-set(BACKWARD_ENABLE $<TARGET_OBJECTS:backward_object> CACHE STRING
-	"Link with this object to setup backward automatically")
+add_library(backward_interface INTERFACE)
+set_target_properties(backward_interface PROPERTIES EXPORT_NAME Interface)
+target_compile_definitions(backward_interface INTERFACE ${BACKWARD_DEFINITIONS})
+target_include_directories(backward_interface INTERFACE ${BACKWARD_INCLUDE_DIRS})
+if(BACKWARD_HAS_EXTERNAL_LIBRARIES)
+    target_link_libraries(backward_interface INTERFACE ${BACKWARD_LIBRARIES})
+endif()
+add_library(Backward::Interface ALIAS backward_interface)
 
+###############################################################################
+# BACKWARD OBJECT (Includes backward.cpp)
+# (Note that this target is not exported, since CMake currently does not allow
+# exporting an OBJECT library.)
+###############################################################################
+
+add_library(backward_object OBJECT backward.cpp)
+set_target_properties(backward_object PROPERTIES EXPORT_NAME Object)
+target_link_libraries(backward_object PUBLIC Backward::Interface)
+add_library(Backward::Object ALIAS backward_object)
 
 ###############################################################################
 # BACKWARD LIBRARY (Includes backward.cpp)
+# (Note that the linker will not include unused objects from a static library,
+# unless the -Wl,--whole-archive option (or similar) is used.)
 ###############################################################################
-option(BACKWARD_SHARED "Build dynamic backward-cpp shared lib" OFF)
 
+set(libtype STATIC)
 if(BACKWARD_SHARED)
     set(libtype SHARED)
 endif()
 add_library(backward ${libtype} backward.cpp)
-target_compile_definitions(backward PUBLIC ${BACKWARD_DEFINITIONS})
-target_include_directories(backward PUBLIC ${BACKWARD_INCLUDE_DIRS})
+set_target_properties(backward PROPERTIES EXPORT_NAME Backward)
+target_link_libraries(backward PUBLIC Backward::Interface)
+add_library(Backward::Backward ALIAS backward)
 
 ###############################################################################
 # TESTS
@@ -102,7 +130,7 @@ if(BACKWARD_TESTS)
 
 		add_executable(${test_name} ${src} ${ARGN} $<TARGET_OBJECTS:test_main>)
 
-		target_link_libraries(${test_name} PRIVATE Backward::Backward)
+		target_link_libraries(${test_name} PRIVATE Backward::Interface)
 
 		add_test(NAME ${name} COMMAND ${test_name})
 	endmacro()
@@ -125,7 +153,7 @@ if(BACKWARD_TESTS)
 		)
 
 	foreach(test ${TESTS})
-		backward_add_test(test/${test}.cpp ${BACKWARD_ENABLE})
+		backward_add_test(test/${test}.cpp backward.cpp)
 	endforeach()
 endif()
 
@@ -135,5 +163,14 @@ install(
 )
 install(
     FILES "BackwardConfig.cmake"
-    DESTINATION ${CMAKE_INSTALL_LIBDIR}/backward
+    DESTINATION "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}"
 )
+# check if Backward is being used as a top-level project or included as a subproject
+if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR)
+    # export the targets (note that exporting backward_object does not make sense)
+    install(TARGETS backward_interface backward EXPORT BackwardTargets)
+    # install a CMake file for the exported targets
+    install(EXPORT BackwardTargets
+            NAMESPACE Backward::
+            DESTINATION "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}")
+endif()
diff --git a/vendor/backward-cpp/backward.hpp b/vendor/backward-cpp/backward.hpp
index ac7ad51738..263cd1b4c4 100644
--- a/vendor/backward-cpp/backward.hpp
+++ b/vendor/backward-cpp/backward.hpp
@@ -101,7 +101,7 @@
 // #define BACKWARD_HAS_UNWIND 1
 //  - unwind comes from libgcc, but I saw an equivalent inside clang itself.
 //  - with unwind, the stacktrace is as accurate as it can possibly be, since
-//  this is used by the C++ runtine in gcc/clang for stack unwinding on
+//  this is used by the C++ runtime in gcc/clang for stack unwinding on
 //  exception.
 //  - normally libgcc is already linked to your program by default.
 //
@@ -211,10 +211,23 @@
 #else
 #include <link.h>
 #endif
+#if defined(__ppc__) || defined(__powerpc) || defined(__powerpc__) ||        \
+    defined(__POWERPC__)
+// Linux kernel header required for the struct pt_regs definition
+// to access the NIP (Next Instruction Pointer) register value
+#include <asm/ptrace.h>
+#endif
 #include <signal.h>
 #include <sys/stat.h>
 #include <syscall.h>
 #include <unistd.h>
+#ifndef _GNU_SOURCE
+#define _GNU_SOURCE
+#include <dlfcn.h>
+#undef _GNU_SOURCE
+#else
+#include <dlfcn.h>
+#endif
 
 #if BACKWARD_HAS_BFD == 1
 //              NOTE: defining PACKAGE{,_VERSION} is required before including
@@ -227,13 +240,6 @@
 #define PACKAGE_VERSION
 #endif
 #include <bfd.h>
-#ifndef _GNU_SOURCE
-#define _GNU_SOURCE
-#include <dlfcn.h>
-#undef _GNU_SOURCE
-#else
-#include <dlfcn.h>
-#endif
 #endif
 
 #if BACKWARD_HAS_DW == 1
@@ -248,13 +254,6 @@
 #include <libdwarf.h>
 #include <libelf.h>
 #include <map>
-#ifndef _GNU_SOURCE
-#define _GNU_SOURCE
-#include <dlfcn.h>
-#undef _GNU_SOURCE
-#else
-#include <dlfcn.h>
-#endif
 #endif
 
 #if (BACKWARD_HAS_BACKTRACE == 1) || (BACKWARD_HAS_BACKTRACE_SYMBOL == 1)
@@ -271,7 +270,7 @@
 // #define BACKWARD_HAS_UNWIND 1
 //  - unwind comes from libgcc, but I saw an equivalent inside clang itself.
 //  - with unwind, the stacktrace is as accurate as it can possibly be, since
-//  this is used by the C++ runtine in gcc/clang for stack unwinding on
+//  this is used by the C++ runtime in gcc/clang for stack unwinding on
 //  exception.
 //  - normally libgcc is already linked to your program by default.
 //
@@ -338,7 +337,12 @@
 #include <thread>
 
 #include <basetsd.h>
+
+#ifdef _WIN64
 typedef SSIZE_T ssize_t;
+#else
+typedef int ssize_t;
+#endif
 
 #ifndef NOMINMAX
 #define NOMINMAX
@@ -517,7 +521,7 @@ template <typename T> struct default_delete {
   void operator()(T &ptr) const { delete ptr; }
 };
 
-template <typename T, typename Deleter = deleter<void, void *, &::free>>
+template <typename T, typename Deleter = deleter<void, void *, &::free> >
 class handle {
   struct dummy;
   T _val;
@@ -723,6 +727,7 @@ template <typename TAG> class StackTraceImpl {
   }
   size_t thread_id() const { return 0; }
   void skip_n_firsts(size_t) {}
+  void *const *begin() const { return nullptr; }
 };
 
 class StackTraceImplBase {
@@ -806,7 +811,12 @@ template <typename F> class Unwinder {
     _index = -1;
     _depth = depth;
     _Unwind_Backtrace(&this->backtrace_trampoline, this);
-    return static_cast<size_t>(_index);
+    if (_index == -1) {
+      // _Unwind_Backtrace has failed to obtain any backtraces
+      return 0;
+    } else {
+      return static_cast<size_t>(_index);
+    }
   }
 
 private:
@@ -827,7 +837,7 @@ template <typename F> class Unwinder {
     uintptr_t ip = _Unwind_GetIPInfo(ctx, &ip_before_instruction);
 
     if (!ip_before_instruction) {
-      // calculating 0-1 for unsigned, looks like a possible bug to sanitiziers,
+      // calculating 0-1 for unsigned, looks like a possible bug to sanitizers,
       // so let's do it explicitly:
       if (ip == 0) {
         ip = std::numeric_limits<uintptr_t>::max(); // set it to 0xffff... (as
@@ -944,7 +954,7 @@ class StackTraceImpl<system_tag::current_tag> : public StackTraceImplHolder {
           reinterpret_cast<void *>(uctx->uc_mcontext.gregs[REG_EIP]);
       ++index;
       ctx = *reinterpret_cast<unw_context_t *>(uctx);
-#elif defined(__arm__)
+#elif defined(__arm__)     // clang libunwind/arm
       // libunwind uses its own context type for ARM unwinding.
       // Copy the registers from the signal handler's context so we can
       // unwind
@@ -975,6 +985,24 @@ class StackTraceImpl<system_tag::current_tag> : public StackTraceImplHolder {
       }
       _stacktrace[index] = reinterpret_cast<void *>(ctx.regs[UNW_ARM_R15]);
       ++index;
+#elif defined(__aarch64__) // gcc libunwind/arm64
+      unw_getcontext(&ctx);
+      // If the IP is the same as the crash address we have a bad function
+      // dereference The caller's address is pointed to by the link pointer, so
+      // we dereference that value and set it to be the next frame's IP.
+      if (uctx->uc_mcontext.pc == reinterpret_cast<__uint64_t>(error_addr())) {
+        uctx->uc_mcontext.pc = uctx->uc_mcontext.regs[UNW_TDEP_IP];
+      }
+
+      // 29 general purpose registers
+      for (int i = UNW_AARCH64_X0; i <= UNW_AARCH64_X28; i++) {
+        ctx.uc_mcontext.regs[i] = uctx->uc_mcontext.regs[i];
+      }
+      ctx.uc_mcontext.sp = uctx->uc_mcontext.sp;
+      ctx.uc_mcontext.pc = uctx->uc_mcontext.pc;
+      ctx.uc_mcontext.fault_address = uctx->uc_mcontext.fault_address;
+      _stacktrace[index] = reinterpret_cast<void *>(ctx.uc_mcontext.pc);
+      ++index;
 #elif defined(__APPLE__) && defined(__x86_64__)
       unw_getcontext(&ctx);
       // OS X's implementation of libunwind uses its own context object
@@ -1150,10 +1178,18 @@ class StackTraceImpl<system_tag::current_tag> : public StackTraceImplHolder {
     s.AddrStack.Mode = AddrModeFlat;
     s.AddrFrame.Mode = AddrModeFlat;
     s.AddrPC.Mode = AddrModeFlat;
-#ifdef _M_X64
+#if defined(_M_X64)
     s.AddrPC.Offset = ctx_->Rip;
     s.AddrStack.Offset = ctx_->Rsp;
     s.AddrFrame.Offset = ctx_->Rbp;
+#elif defined(_M_ARM64)
+    s.AddrPC.Offset = ctx_->Pc;
+    s.AddrStack.Offset = ctx_->Sp;
+    s.AddrFrame.Offset = ctx_->Fp;
+#elif defined(_M_ARM)
+    s.AddrPC.Offset = ctx_->Pc;
+    s.AddrStack.Offset = ctx_->Sp;
+    s.AddrFrame.Offset = ctx_->R11;
 #else
     s.AddrPC.Offset = ctx_->Eip;
     s.AddrStack.Offset = ctx_->Esp;
@@ -1161,8 +1197,12 @@ class StackTraceImpl<system_tag::current_tag> : public StackTraceImplHolder {
 #endif
 
     if (!machine_type_) {
-#ifdef _M_X64
+#if defined(_M_X64)
       machine_type_ = IMAGE_FILE_MACHINE_AMD64;
+#elif defined(_M_ARM64)
+      machine_type_ = IMAGE_FILE_MACHINE_ARM64;
+#elif defined(_M_ARM)
+      machine_type_ = IMAGE_FILE_MACHINE_ARMNT;
 #else
       machine_type_ = IMAGE_FILE_MACHINE_I386;
 #endif
@@ -1224,7 +1264,7 @@ class TraceResolverImplBase {
   }
 
   template <class ST> void load_stacktrace(ST &st) {
-    load_addresses(st.begin(), (int)st.size());
+    load_addresses(st.begin(), static_cast<int>(st.size()));
   }
 
   virtual ResolvedTrace resolve(ResolvedTrace t) { return t; }
@@ -1449,7 +1489,7 @@ class TraceResolverLinuxImpl<trace_resolver_tag::libbfd>
     // line of the function that was called. But if the code is optimized,
     // we might get something absolutely not related since the compiler
     // can reschedule the return address with inline functions and
-    // tail-call optimisation (among other things that I don't even know
+    // tail-call optimization (among other things that I don't even know
     // or cannot even dream about with my tiny limited brain).
     find_sym_result details_adjusted_call_site = find_symbol_details(
         fobj, (void *)(uintptr_t(trace.addr) - 1), symbol_info.dli_fbase);
@@ -1480,7 +1520,7 @@ class TraceResolverLinuxImpl<trace_resolver_tag::libbfd>
         // this time we get the name of the function where the code is
         // located, instead of the function were the address is
         // located. In short, if the code was inlined, we get the
-        // function correspoding to the code. Else we already got in
+        // function corresponding to the code. Else we already got in
         // trace.function.
         trace.source.function = demangle(details_selected->funcname);
 
@@ -1549,7 +1589,7 @@ class TraceResolverLinuxImpl<trace_resolver_tag::libbfd>
   bool _bfd_loaded;
 
   typedef details::handle<bfd *,
-                          details::deleter<bfd_boolean, bfd *, &bfd_close>>
+                          details::deleter<bfd_boolean, bfd *, &bfd_close> >
       bfd_handle_t;
 
   typedef details::handle<asymbol **> bfd_symtab_t;
@@ -1695,7 +1735,7 @@ class TraceResolverLinuxImpl<trace_resolver_tag::libbfd>
 
     // are we in the boundaries of the section?
     if (addr < sec_addr || addr >= sec_addr + size) {
-      addr -= base_addr; // oups, a relocated object, lets try again...
+      addr -= base_addr; // oops, a relocated object, lets try again...
       if (addr < sec_addr || addr >= sec_addr + size) {
         return;
       }
@@ -1774,7 +1814,7 @@ class TraceResolverLinuxImpl<trace_resolver_tag::libdw>
   ResolvedTrace resolve(ResolvedTrace trace) override {
     using namespace details;
 
-    Dwarf_Addr trace_addr = (Dwarf_Addr)trace.addr;
+    Dwarf_Addr trace_addr = reinterpret_cast<Dwarf_Addr>(trace.addr);
 
     if (!_dwfl_handle_initialized) {
       // initialize dwfl...
@@ -1906,8 +1946,8 @@ class TraceResolverLinuxImpl<trace_resolver_tag::libdw>
       int line = 0, col = 0;
       dwarf_lineno(srcloc, &line);
       dwarf_linecol(srcloc, &col);
-      trace.source.line = line;
-      trace.source.col = col;
+      trace.source.line = static_cast<unsigned>(line);
+      trace.source.col = static_cast<unsigned>(col);
     }
 
     deep_first_search_by_pc(cudie, trace_addr - mod_bias,
@@ -1921,9 +1961,9 @@ class TraceResolverLinuxImpl<trace_resolver_tag::libdw>
   }
 
 private:
-  typedef details::handle<Dwfl *, details::deleter<void, Dwfl *, &dwfl_end>>
+  typedef details::handle<Dwfl *, details::deleter<void, Dwfl *, &dwfl_end> >
       dwfl_handle_t;
-  details::handle<Dwfl_Callbacks *, details::default_delete<Dwfl_Callbacks *>>
+  details::handle<Dwfl_Callbacks *, details::default_delete<Dwfl_Callbacks *> >
       _dwfl_cb;
   dwfl_handle_t _dwfl_handle;
   bool _dwfl_handle_initialized;
@@ -1954,8 +1994,8 @@ class TraceResolverLinuxImpl<trace_resolver_tag::libdw>
         Dwarf_Word line = 0, col = 0;
         dwarf_formudata(dwarf_attr(die, DW_AT_call_line, &attr_mem), &line);
         dwarf_formudata(dwarf_attr(die, DW_AT_call_column, &attr_mem), &col);
-        sloc.line = (unsigned)line;
-        sloc.col = (unsigned)col;
+        sloc.line = static_cast<unsigned>(line);
+        sloc.col = static_cast<unsigned>(col);
 
         trace.inliners.push_back(sloc);
         break;
@@ -2245,14 +2285,14 @@ class TraceResolverLinuxImpl<trace_resolver_tag::libdwarf>
 private:
   bool _dwarf_loaded;
 
-  typedef details::handle<int, details::deleter<int, int, &::close>>
+  typedef details::handle<int, details::deleter<int, int, &::close> >
       dwarf_file_t;
 
-  typedef details::handle<Elf *, details::deleter<int, Elf *, &elf_end>>
+  typedef details::handle<Elf *, details::deleter<int, Elf *, &elf_end> >
       dwarf_elf_t;
 
   typedef details::handle<Dwarf_Debug,
-                          details::deleter<int, Dwarf_Debug, &close_dwarf>>
+                          details::deleter<int, Dwarf_Debug, &close_dwarf> >
       dwarf_handle_t;
 
   typedef std::map<Dwarf_Addr, int> die_linemap_t;
@@ -3610,10 +3650,12 @@ template <> class TraceResolverImpl<system_tag::windows_tag>
     symOptions |= SYMOPT_LOAD_LINES | SYMOPT_UNDNAME;
     SymSetOptions(symOptions);
     EnumProcessModules(process, &module_handles[0],
-                       module_handles.size() * sizeof(HMODULE), &cbNeeded);
+                       static_cast<DWORD>(module_handles.size() * sizeof(HMODULE)),
+		       &cbNeeded);
     module_handles.resize(cbNeeded / sizeof(HMODULE));
     EnumProcessModules(process, &module_handles[0],
-                       module_handles.size() * sizeof(HMODULE), &cbNeeded);
+                       static_cast<DWORD>(module_handles.size() * sizeof(HMODULE)),
+		       &cbNeeded);
     std::transform(module_handles.begin(), module_handles.end(),
                    std::back_inserter(modules), get_mod_info(process));
     void *base = modules[0].base_address;
@@ -3686,7 +3728,7 @@ class TraceResolver : public TraceResolverImpl<system_tag::current_tag> {};
 
 class SourceFile {
 public:
-  typedef std::vector<std::pair<unsigned, std::string>> lines_t;
+  typedef std::vector<std::pair<unsigned, std::string> > lines_t;
 
   SourceFile() {}
   SourceFile(const std::string &path) {
@@ -3797,11 +3839,18 @@ class SourceFile {
   }
 #endif
 
+  // Allow adding to paths gotten from BACKWARD_CXX_SOURCE_PREFIXES after loading the
+  // library; this can be useful when the library is loaded when the locations are unknown
+  // Warning: Because this edits the static paths variable, it is *not* intrinsiclly thread safe
+  static void add_paths_to_env_variable_impl(const std::string & to_add) {
+    get_mutable_paths_from_env_variable().push_back(to_add);
+  }
+
 private:
-  details::handle<std::ifstream *, details::default_delete<std::ifstream *>>
+  details::handle<std::ifstream *, details::default_delete<std::ifstream *> >
       _file;
 
-  std::vector<std::string> get_paths_from_env_variable_impl() {
+  static std::vector<std::string> get_paths_from_env_variable_impl() {
     std::vector<std::string> paths;
     const char *prefixes_str = std::getenv("BACKWARD_CXX_SOURCE_PREFIXES");
     if (prefixes_str && prefixes_str[0]) {
@@ -3810,9 +3859,13 @@ class SourceFile {
     return paths;
   }
 
-  const std::vector<std::string> &get_paths_from_env_variable() {
-    static std::vector<std::string> paths = get_paths_from_env_variable_impl();
-    return paths;
+  static std::vector<std::string> &get_mutable_paths_from_env_variable() {
+    static volatile std::vector<std::string> paths = get_paths_from_env_variable_impl();
+    return const_cast<std::vector<std::string>&>(paths);
+  }
+
+  static const std::vector<std::string> &get_paths_from_env_variable() {
+    return get_mutable_paths_from_env_variable();
   }
 
 #ifdef BACKWARD_ATLEAST_CXX11
@@ -3980,10 +4033,12 @@ class Printer {
   bool object;
   int inliner_context_size;
   int trace_context_size;
+  bool reverse;
 
   Printer()
       : snippet(true), color_mode(ColorMode::automatic), address(false),
-        object(false), inliner_context_size(5), trace_context_size(7) {}
+        object(false), inliner_context_size(5), trace_context_size(7),
+        reverse(true) {}
 
   template <typename ST> FILE *print(ST &st, FILE *fp = stderr) {
     cfile_streambuf obuf(fp);
@@ -4030,8 +4085,14 @@ class Printer {
   void print_stacktrace(ST &st, std::ostream &os, Colorize &colorize) {
     print_header(os, st.thread_id());
     _resolver.load_stacktrace(st);
-    for (size_t trace_idx = st.size(); trace_idx > 0; --trace_idx) {
-      print_trace(os, _resolver.resolve(st[trace_idx - 1]), colorize);
+    if ( reverse ) {
+      for (size_t trace_idx = st.size(); trace_idx > 0; --trace_idx) {
+        print_trace(os, _resolver.resolve(st[trace_idx - 1]), colorize);
+      }
+    } else {
+      for (size_t trace_idx = 0; trace_idx < st.size(); ++trace_idx) {
+        print_trace(os, _resolver.resolve(st[trace_idx]), colorize);
+      }
     }
   }
 
@@ -4220,6 +4281,8 @@ class SignalHandling {
 #elif defined(__mips__)
     error_addr = reinterpret_cast<void *>(
         reinterpret_cast<struct sigcontext *>(&uctx->uc_mcontext)->sc_pc);
+#elif defined(__APPLE__) && defined(__POWERPC__)
+    error_addr = reinterpret_cast<void *>(uctx->uc_mcontext->__ss.__srr0);
 #elif defined(__ppc__) || defined(__powerpc) || defined(__powerpc__) ||        \
     defined(__POWERPC__)
     error_addr = reinterpret_cast<void *>(uctx->uc_mcontext.regs->nip);
@@ -4231,6 +4294,8 @@ class SignalHandling {
     error_addr = reinterpret_cast<void *>(uctx->uc_mcontext->__ss.__rip);
 #elif defined(__APPLE__)
     error_addr = reinterpret_cast<void *>(uctx->uc_mcontext->__ss.__eip);
+#elif defined(__loongarch__)
+    error_addr = reinterpret_cast<void *>(uctx->uc_mcontext.__pc);
 #else
 #warning ":/ sorry, ain't know no nothing none not of your architecture!"
 #endif
@@ -4245,7 +4310,8 @@ class SignalHandling {
     printer.address = true;
     printer.print(st, stderr);
 
-#if _XOPEN_SOURCE >= 700 || _POSIX_C_SOURCE >= 200809L
+#if (defined(_XOPEN_SOURCE) && _XOPEN_SOURCE >= 700) || \
+    (defined(_POSIX_C_SOURCE) && _POSIX_C_SOURCE >= 200809L)
     psiginfo(info, nullptr);
 #else
     (void)info;
@@ -4360,7 +4426,7 @@ class SignalHandling {
   static const constexpr int signal_skip_recs =
 #ifdef __clang__
       // With clang, RtlCaptureContext also captures the stack frame of the
-      // current function Below that, there ar 3 internal Windows functions
+      // current function Below that, there are 3 internal Windows functions
       4
 #else
       // With MSVC cl, RtlCaptureContext misses the stack frame of the current

From 01095127b0feb2e18479190e9aebbe942067bb83 Mon Sep 17 00:00:00 2001
From: Jose Luis Rivero <jrivero@honurobotics.com>
Date: Fri, 23 May 2025 13:40:09 +0200
Subject: [PATCH 8/9] Change backwards use to relay on Object

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>
---
 CMakeLists.txt         | 13 ++++++++-----
 src/cmd/CMakeLists.txt | 14 +++++++-------
 2 files changed, 15 insertions(+), 12 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index bf22d7cb98..135bbf0698 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -35,14 +35,17 @@ endif()
 #--------------------------------------
 # Find Backward-cpp for stack trace support
 # See https://github.com/gazebosim/gz-cmake/issues/477 before copy this code
-find_package(Backward REQUIRED
-  HINTS ${CMAKE_CURRENT_SOURCE_DIR}/vendor/backward-cpp
-  NO_DEFAULT_PATH)
 
+set(BACKWARD_TESTS OFF)
+add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/vendor/backward-cpp)
+
+# Using other CMake interfaces from backwards won't work here since
+# CMake would not resolve them into gz-cmake (uses EXTRA_TEST_LIB_DEPS)
+# using backward_object set the object file path.
 if (UNIX AND NOT APPLE)
-  set (EXTRA_TEST_LIB_DEPS stdc++fs Backward::Backward)
+  set (EXTRA_TEST_LIB_DEPS stdc++fs backward_object)
 else()
-  set (EXTRA_TEST_LIB_DEPS Backward::Backward)
+  set (EXTRA_TEST_LIB_DEPS backward_object)
 endif()
 
 # We're disabling pybind11 by default on Windows because they
diff --git a/src/cmd/CMakeLists.txt b/src/cmd/CMakeLists.txt
index 865107fede..70fb984397 100644
--- a/src/cmd/CMakeLists.txt
+++ b/src/cmd/CMakeLists.txt
@@ -12,10 +12,10 @@ install(
 )
 
 # Create sim utilies library
-add_library(gz STATIC gz.cc "${Backward_DIR}/backward.cpp")
+add_library(gz STATIC gz.cc)
 target_link_libraries(gz
   ${PROJECT_LIBRARY_TARGET_NAME}
-  Backward::Backward
+  Backward::Object
   gz-common::gz-common
   gz-utils::cli
   gz-sim
@@ -25,10 +25,9 @@ target_link_libraries(gz
 if(ENABLE_GUI)
   target_link_libraries(gz gz-sim-gui)
 
-  add_executable(gz-sim-gui-client gui_main.cc "${Backward_DIR}/backward.cpp")
+  add_executable(gz-sim-gui-client gui_main.cc)
   target_link_libraries(gz-sim-gui-client
-    PUBLIC Backward::Backward
-    PRIVATE gz)
+    PRIVATE gz Backward::Object)
 
   install(
     TARGETS gz-sim-gui-client
@@ -38,8 +37,9 @@ endif()
 
 # Create sim main executable
 set(sim_executable gz-sim-main)
-add_executable(${sim_executable} sim_main.cc "${Backward_DIR}/backward.cpp")
-target_link_libraries(${sim_executable} PUBLIC gz Backward::Backward)
+add_executable(${sim_executable} sim_main.cc)
+target_link_libraries(${sim_executable}
+  PRIVATE Backward::Object gz)
 
 install(
   TARGETS ${sim_executable}

From cf010b15d7e07ccc9c77a3601724e1afe045aa7c Mon Sep 17 00:00:00 2001
From: Arjo Chakravarty <arjoc@intrinsic.ai>
Date: Mon, 26 May 2025 03:13:55 +0000
Subject: [PATCH 9/9] Minor style related issues

Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
---
 vendor/backward-cpp/BackwardConfig.cmake | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/vendor/backward-cpp/BackwardConfig.cmake b/vendor/backward-cpp/BackwardConfig.cmake
index 7f6b3cb1dd..353cdc5dc4 100644
--- a/vendor/backward-cpp/BackwardConfig.cmake
+++ b/vendor/backward-cpp/BackwardConfig.cmake
@@ -205,7 +205,7 @@ if(WIN32)
 	list(APPEND _BACKWARD_LIBRARIES dbghelp psapi)
 	if(MINGW)
 		include(CheckCXXCompilerFlag)
-		check_cxx_compiler_flag(-gcodeview SUPPORT_WINDOWS_DEBUG_INFO)	
+		check_cxx_compiler_flag(-gcodeview SUPPORT_WINDOWS_DEBUG_INFO)
 		if(SUPPORT_WINDOWS_DEBUG_INFO)
 			set(CMAKE_EXE_LINKER_FLAGS "-Wl,--pdb= ")
 			add_compile_options(-gcodeview)
@@ -213,7 +213,7 @@ if(WIN32)
 			set(MINGW_MSVCR_LIBRARY "msvcr90$<$<CONFIG:DEBUG>:d>" CACHE STRING "Mingw MSVC runtime import library")
 			list(APPEND _BACKWARD_LIBRARIES ${MINGW_MSVCR_LIBRARY})
 		endif()
-	endif()	
+	endif()
 endif()
 
 set(BACKWARD_INCLUDE_DIR