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Merged
merged 11 commits into from
May 30, 2025
Merged

backwards-cpp support for gz-sim-main and gz-sim-gui #2919

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5913812
Import backwards version 1.6
j-rivero May 21, 2025
965d463
Rename the backwards vendor dir
j-rivero May 21, 2025
fd0edc9
Use backwards in gz-sim-gui and gz-sim-main
j-rivero May 21, 2025
42383a5
Use backwards header and signal handler
j-rivero May 22, 2025
255dd43
Revert "Use backwards header and signal handler"
j-rivero May 22, 2025
454f13a
Use backwards.cpp instead of backwards.hpp
j-rivero May 22, 2025
5d531b2
Update backwards to 0bfd0a07a61551413ccd2ab9a9099af3bad40681
j-rivero May 23, 2025
0109512
Change backwards use to relay on Object
j-rivero May 23, 2025
cf010b1
Minor style related issues
arjo129 May 26, 2025
fe76420
Merge branch 'main' into jrivero/backwards_standalone_2
arjo129 May 28, 2025
c5ba370
Merge branch 'main' into jrivero/backwards_standalone_2
arjo129 May 29, 2025
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11 changes: 9 additions & 2 deletions CMakeLists.txt
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Expand Up @@ -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)
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@arjo129 arjo129 May 23, 2025 •
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Sadly, this won't work for the tests, perhaps Backward::Object? Or linking tests with whole-archive options enabled.

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
Expand Down
6 changes: 4 additions & 2 deletions src/cmd/CMakeLists.txt
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Expand Up @@ -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
Expand All @@ -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}
Expand Down
1 change: 0 additions & 1 deletion test/CMakeLists.txt
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Expand Up @@ -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)
Expand Down
85 changes: 31 additions & 54 deletions ..._vendor/backward-cpp/BackwardConfig.cmake → vendor/backward-cpp/BackwardConfig.cmake
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Expand Up @@ -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
###############################################################################
Expand Down Expand Up @@ -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 (${STACK_DETAILS_AUTO_DETECT})
Expand All @@ -83,21 +89,8 @@ if (${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 ${_name_mismatched_arg}
REQUIRED_VARS LIBDW_LIBRARY LIBDW_INCLUDE_DIR)
mark_as_advanced(LIBDW_INCLUDE_DIR LIBDW_LIBRARY)
Expand Down Expand Up @@ -146,11 +139,6 @@ if (${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()

Expand Down Expand Up @@ -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)
Expand All @@ -230,41 +208,40 @@ 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)

# 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()
123 changes: 64 additions & 59 deletions ...ckward_vendor/backward-cpp/CMakeLists.txt → vendor/backward-cpp/CMakeLists.txt
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Expand Up @@ -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:
Expand All @@ -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 ${CMAKE_CXX_COMPILER} NAME)
Expand All @@ -68,6 +52,10 @@ if (${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})
Expand All @@ -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}"
)
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this reverted #2838, and @j-rivero predicted this fragility in #2838 (comment)

for now the debbuild is unstable due to these installed files since BackwardConfig.cmake is not included in any package install rules

# 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
)
0 .../backward_vendor/backward-cpp/LICENSE.txt → vendor/backward-cpp/LICENSE.txt
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0 ...backward_vendor/backward-cpp/backward.cpp → vendor/backward-cpp/backward.cpp
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