From 488e6a5fd33aa6da3c5e944b50fa6393d6570954 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Mon, 28 Aug 2023 13:06:05 +1200
Subject: [PATCH] CI: enable backtrace using cpptrace

Trying to get a backtrace from the hunter crash.

Signed-off-by: Julian Oes <julian@oes.ch>
---
 .github/workflows/main.yml               | 27 ++------------------
 src/system_tests/CMakeLists.txt          | 14 ++++++++++-
 src/system_tests/system_tests_runner.cpp | 32 ++++++++++++++++++++++++
 third_party/CMakeLists.txt               |  4 +++
 4 files changed, 51 insertions(+), 26 deletions(-)
 create mode 100644 src/system_tests/system_tests_runner.cpp

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 0b43619cc3..f1d0b1ae9d 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -128,41 +128,18 @@ jobs:
         with:
           path: ~/.hunter
           key: ${{ github.job }}-${{ hashFiles('~/.hunter/**') }}-3
-      - name: install GDB
-        run: sudo apt-get install gdb
       - name: install mavlink on the system
         run: |
             cmake -Bthird_party/mavlink/build -Sthird_party/mavlink
             sudo cmake --build third_party/mavlink/build
       - name: configure
-        run: cmake -DSUPERBUILD=OFF -DHUNTER_ENABLED=ON -DCMAKE_TOOLCHAIN_FILE=$(pwd)/src/cmake/fpic_toolchain.cmake  -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=OFF -DBUILD_SHARED_LIBS=OFF -Bbuild -H.
+        run: cmake -DSUPERBUILD=OFF -DHUNTER_ENABLED=ON -DCMAKE_TOOLCHAIN_FILE=$(pwd)/src/cmake/fpic_toolchain.cmake  -DCMAKE_BUILD_TYPE=Debug -DBUILD_MAVSDK_SERVER=OFF -DBUILD_SHARED_LIBS=OFF -Bbuild -H. -DENABLE_CPPTRACE=On
       - name: build
         run: cmake --build build -j2
-      - name: enable core dumps
-        run: |
-          sudo bash -c 'echo "/home/runner/work/cores/%e.%p.%t" > /proc/sys/kernel/core_pattern'
-          sudo cat /proc/sys/kernel/core_pattern
-          mkdir /home/runner/work/cores/
-      - name: test enabling cores
-        run: |
-          ulimit -c               # should output 0 if disabled
-          ulimit -c unlimited
-          ulimit -c
       - name: unit tests
         run: ./build/src/unit_tests/unit_tests_runner
       - name: system tests
-        run: gdb -batch -ex "run" -ex "bt" --args ./build/src/system_tests/system_tests_runner --gtest_catch_exceptions=0
-      - name: check core files
-        if: failure()
-        run: |
-          ls -l /home/runner/work/cores/
-      - uses: actions/upload-artifact@v3
-        if: failure()
-        with:
-          name: crashes
-          path: |
-            /home/runner/work/cores/
-            ./build/
+        run: ./build/src/system_tests/system_tests_runner --gtest_catch_exceptions=0
 
   ubuntu22-style-and-proto-check:
     name: ubuntu-22.04 (style and proto check)
diff --git a/src/system_tests/CMakeLists.txt b/src/system_tests/CMakeLists.txt
index b8c92a82c1..8b7a8002f2 100644
--- a/src/system_tests/CMakeLists.txt
+++ b/src/system_tests/CMakeLists.txt
@@ -1,5 +1,4 @@
 add_executable(system_tests_runner
-    ../mavsdk/core/unittests_main.cpp
     camera_take_photo.cpp
     component_information.cpp
     action_arm_disarm.cpp
@@ -18,6 +17,7 @@ add_executable(system_tests_runner
     ftp_remove_dir.cpp
     ftp_compare_files.cpp
     ftp_list_dir.cpp
+    system_tests_runner.cpp
 )
 
 target_include_directories(system_tests_runner
@@ -32,3 +32,15 @@ target_link_libraries(system_tests_runner
     gtest_main
     gmock
 )
+
+if(ENABLE_CPPTRACE)
+    find_package(cpptrace REQUIRED)
+    target_link_libraries(system_tests_runner
+        PRIVATE
+        cpptrace::cpptrace
+    )
+    target_compile_definitions(system_tests_runner
+        PRIVATE
+        -DENABLE_CPPTRACE
+    )
+endif()
diff --git a/src/system_tests/system_tests_runner.cpp b/src/system_tests/system_tests_runner.cpp
new file mode 100644
index 0000000000..2e770f80ae
--- /dev/null
+++ b/src/system_tests/system_tests_runner.cpp
@@ -0,0 +1,32 @@
+#if defined(ENABLE_CPPTRACE)
+#include <signal.h>
+#include <cpptrace/cpptrace.hpp>
+#include "log.h"
+#include <cstring>
+#endif
+#include <gtest/gtest.h>
+
+#if defined(ENABLE_CPPTRACE)
+void handler(int sig)
+{
+    mavsdk::LogErr() << "Got signal: " << strsignal(sig) << " (" << sig << ")";
+    cpptrace::print_trace();
+    exit(1);
+}
+#endif
+
+int main(int argc, char** argv)
+{
+#if defined(ENABLE_CPPTRACE)
+    signal(SIGSEGV, handler);
+    signal(SIGQUIT, handler);
+    signal(SIGABRT, handler);
+    signal(SIGILL, handler);
+    signal(SIGBUS, handler);
+    signal(SIGPIPE, handler);
+    signal(SIGFPE, handler);
+#endif
+
+    ::testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}
diff --git a/third_party/CMakeLists.txt b/third_party/CMakeLists.txt
index f56d429ccb..bfdc25bfd6 100644
--- a/third_party/CMakeLists.txt
+++ b/third_party/CMakeLists.txt
@@ -26,5 +26,9 @@ if (SUPERBUILD)
         build_target(re2)
         build_target(grpc)
     endif()
+
 endif()
 
+if (ENABLE_CPPTRACE)
+    build_target(cpptrace)
+endif()