text: 
  //  Copyright (c) 2003-2020 Xsens Technologies B.V. or subsidiaries worldwide.
  //  All rights reserved.
  //
  //  Redistribution and use in source and binary forms, with or without modification,
  //  are permitted provided that the following conditions are met:
  //
  //  1.	Redistributions of source code must retain the above copyright notice,
  //  	this list of conditions, and the following disclaimer.
  //
  //  2.	Redistributions in binary form must reproduce the above copyright notice,
  //  	this list of conditions, and the following disclaimer in the documentation
  //  	and/or other materials provided with the distribution.
  //
  //  3.	Neither the names of the copyright holders nor the names of their contributors
  //  	may be used to endorse or promote products derived from this software without
  //  	specific prior written permission.
  //
  //  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
  //  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
  //  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
  //  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
  //  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
  //  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
  //  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
  //  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  //  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS
  //  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES
  //  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE
  //  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
  //
  
  
  //  Copyright (c) 2003-2020 Xsens Technologies B.V. or subsidiaries worldwide.
  //  All rights reserved.
  //
  //  Redistribution and use in source and binary forms, with or without modification,
  //  are permitted provided that the following conditions are met:
  //
  //  1.	Redistributions of source code must retain the above copyright notice,
  //  	this list of conditions, and the following disclaimer.
  //
  //  2.	Redistributions in binary form must reproduce the above copyright notice,
  //  	this list of conditions, and the following disclaimer in the documentation
  //  	and/or other materials provided with the distribution.
  //
  //  3.	Neither the names of the copyright holders nor the names of their contributors
  //  	may be used to endorse or promote products derived from this software without
  //  	specific prior written permission.
  //
  //  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
  //  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
  //  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
  //  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
  //  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
  //  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
  //  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
  //  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  //  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS
  //  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES
  //  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE
  //  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
  //
  
  #include "stackwalker_linux.h"
  
  #include <stdlib.h>
  
  #ifdef ANDROID
  #include <android/log.h>
  #elif defined(USING_UNWIND_LIB)
  #define UNW_LOCAL_ONLY
  #include <libunwind.h>
  #include <cxxabi.h>
  #include <cstdio>
  #endif
  
  #ifdef __arm__
  #define UNW_PRINTF_POINTER "0x%x: "
  #define UNW_PRINTF_NAME_AND_POINTER " (%s+0x%x)"
  #else
  	#include <stdint.h>
  	#if UINTPTR_MAX == 0xffffffff
  		/* 32-bit */
  		#define UNW_PRINTF_POINTER "0x%x: "
  		#define UNW_PRINTF_NAME_AND_POINTER " (%s+0x%x)"
  	#elif UINTPTR_MAX == 0xffffffffffffffff
  		/* 64-bit */
  		#define UNW_PRINTF_POINTER "0x%lx: "
  		#define UNW_PRINTF_NAME_AND_POINTER " (%s+0x%lx)"
  	#else
  		/* wtf */
  	#endif
  #endif
  
  StackWalker::StackWalker()
  {
  }
  
  StackWalker::~StackWalker()
  {
  }
  
  void StackWalker::ShowCallstack()
  {
  #ifdef ANDROID
  	__android_log_print(ANDROID_LOG_WARN, "stackwalker", "stack trace is not available");
  #elif defined(USING_UNWIND_LIB)
  	unw_context_t context;
  	unw_getcontext(&context);
  
  	unw_cursor_t cursor;
  	unw_init_local(&cursor, &context);
  
  	while (unw_step(&cursor) > 0)
  	{
  		unw_word_t instructionPointer;
  		unw_get_reg(&cursor, UNW_REG_IP, &instructionPointer);
  
  		if (instructionPointer == 0)
  			break;
  
  		static const int logLineSize = 256;
  		char logLine[logLineSize];
  		int offset = std::snprintf(logLine, logLineSize, UNW_PRINTF_POINTER, instructionPointer);
  
  		char symbol[logLineSize - 20];
  		unw_word_t symbolOffset;
  		if (unw_get_proc_name(&cursor, symbol, sizeof(symbol), &symbolOffset) == 0)
  		{
  			int status;
  			char* demangled = abi::__cxa_demangle(symbol, nullptr, nullptr, &status);
  
  			char* symbolName = symbol;
  			if (status == 0)
  				symbolName = demangled;
  
  			std::snprintf(&logLine[offset], logLineSize - offset, UNW_PRINTF_NAME_AND_POINTER, symbolName, symbolOffset);
  			std::free(demangled);
  		}
  		else
  		{
  			std::snprintf(&logLine[offset], logLineSize - offset, " (unable to retrieve symbol name)");
  		}
  
  		OnOutput(logLine);
  	}
  #else
  	OnOutput("Stack trace is not available");
  #endif
  }
  