Printing backtrace on segfault

libuavcan/test/test_main.cpp

@@ -4,9 +4,27 @@
 
 #include <gtest/gtest.h>
 #include <uavcan/build_config.hpp>
+#include <cstdio>
+#include <cstdlib>
+#include <execinfo.h>
+#include <signal.h>
+#include <unistd.h>
+
+static void sigsegv_handler(int sig)
+{
+    const int BacktraceSize = 32;
+    void* array[BacktraceSize];
+    const int size = backtrace(array, BacktraceSize);
+
+    std::fprintf(stderr, "SIGNAL %d RECEIVED; STACKTRACE:\n", sig);
+    backtrace_symbols_fd(array, size, STDERR_FILENO);
+    std::exit(1);
+}
 
 int main(int argc, char **argv)
 {
+    signal(SIGSEGV, sigsegv_handler);
+
 #ifndef UAVCAN_CPP_VERSION
 # error UAVCAN_CPP_VERSION
 #endif
@@ -17,6 +35,7 @@ int main(int argc, char **argv)
 #else
 # error UAVCAN_CPP_VERSION
 #endif
+
     ::testing::InitGoogleTest(&argc, argv);
     return RUN_ALL_TESTS();
 }