backwards-cpp support for gz-sim-main and gz-sim-gui

CMakeLists.txt

@@ -32,6 +32,16 @@ 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
+
+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_object)
 else()

src/cmd/CMakeLists.txt

@@ -15,6 +15,7 @@ install(
 add_library(gz STATIC gz.cc)
 target_link_libraries(gz
   ${PROJECT_LIBRARY_TARGET_NAME}
+  Backward::Object
   gz-common::gz-common
   gz-utils::cli
   gz-sim
@@ -25,7 +26,8 @@ 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
+    PRIVATE gz Backward::Object)
 
   install(
     TARGETS gz-sim-gui-client
@@ -36,7 +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} PRIVATE gz)
+target_link_libraries(${sim_executable}
+  PRIVATE Backward::Object gz)
 
 install(
   TARGETS ${sim_executable}

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)

test/backward_vendor/backward-cpp/CMakeLists.txt → vendor/backward-cpp/CMakeLists.txt

@@ -115,16 +115,58 @@ set_target_properties(backward PROPERTIES EXPORT_NAME Backward)
 target_link_libraries(backward PUBLIC Backward::Interface)
 add_library(Backward::Backward ALIAS backward)
 
+###############################################################################
+# 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::Interface)
+
+		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.cpp)
+	endforeach()
+endif()
+
+install(
+    FILES "backward.hpp"
+    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+)
+install(
+    FILES "BackwardConfig.cmake"
+    DESTINATION "${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)
-    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

test/backward_vendor/backward-cpp/backward.hpp → vendor/backward-cpp/backward.hpp

@@ -1178,19 +1178,31 @@ 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;
     s.AddrFrame.Offset = ctx_->Ebp;
 #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
@@ -4269,6 +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);
@@ -4280,6 +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