test: add google fuzztest to unit test build

From https://github.com/google/fuzztest.
This will now also add gtest (via cmake FetchContent)

And requires newer cmake (container updates):
CMake 3.19 or higher is required.  You are running version 3.16.3

.github/workflows/ekf_functional_change_indicator.yml

@@ -23,7 +23,7 @@ jobs:
     - name: main test
       uses: addnab/docker-run-action@v3
       with:
-        image: px4io/px4-dev-base-focal:2021-09-08
+        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
         options: -v ${{ github.workspace }}:/workspace
         run: |
           cd /workspace

.github/workflows/ekf_update_change_indicator.yml

@@ -19,7 +19,7 @@ jobs:
     - name: main test
       uses: addnab/docker-run-action@v3
       with:
-        image: px4io/px4-dev-base-focal:2021-09-08
+        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
         options: -v ${{ github.workspace }}:/workspace
         run: |
           cd /workspace

.gitmodules

@@ -89,3 +89,6 @@
 [submodule "src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan"]
 	path = src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan
 	url = https://github.com/dronecan/pydronecan
+[submodule "test/fuzztest"]
+	path = test/fuzztest
+	url = https://github.com/google/fuzztest.git

CMakeLists.txt

@@ -334,6 +334,33 @@ if(NOT PX4_CHIP)
 	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
 endif()
 
+#=============================================================================
+# Testing - Automatic unit and integration testing with CTest
+# (Needs to be before setting the common compile flags)
+#
+
+# optionally enable cmake testing (supported only on posix)
+option(CMAKE_TESTING "Configure test targets" OFF)
+if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
+	set(CMAKE_TESTING ON)
+endif()
+if(CMAKE_TESTING)
+	include(CTest) # sets BUILD_TESTING variable
+endif()
+
+# enable test filtering to run only specific tests with the ctest -R regex functionality
+set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
+
+include(px4_add_gtest)
+if(BUILD_TESTING)
+	# Setting FUZZTEST_FUZZING_MODE=on enables ASAN, and is only supported with Clang
+	if (("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}" MATCHES "AppleClang"))
+		set(FUZZTEST_FUZZING_MODE ON)
+	endif()
+	add_subdirectory(test)
+	fuzztest_setup_fuzzing_flags()
+endif()
+
 #=============================================================================
 # build flags
 #
@@ -386,46 +413,6 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	endforeach()
 endif()
 
-#=============================================================================
-# Testing - Automatic unit and integration testing with CTest
-#
-
-# optionally enable cmake testing (supported only on posix)
-option(CMAKE_TESTING "Configure test targets" OFF)
-if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
-	set(CMAKE_TESTING ON)
-endif()
-if(CMAKE_TESTING)
-	include(CTest) # sets BUILD_TESTING variable
-endif()
-
-# enable test filtering to run only specific tests with the ctest -R regex functionality
-set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
-
-# if testing is enabled download and configure gtest
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
-include(px4_add_gtest)
-if(BUILD_TESTING)
-	include(gtest)
-
-	# Ensure there's no -R without any filter expression since that trips newer ctest versions
-	if(TESTFILTER)
-		set(TESTFILTERARG "-R")
-	else()
-		set(TESTFILTERARG "")
-	endif()
-
-	add_custom_target(test_results
-			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test ${TESTFILTERARG} ${TESTFILTER}
-			DEPENDS
-				px4
-				examples__dyn_hello
-			USES_TERMINAL
-			COMMENT "Running tests"
-			WORKING_DIRECTORY ${PX4_BINARY_DIR})
-	set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
-endif()
-
 #=============================================================================
 # subdirectories
 #

Tools/astyle/files_to_check_code_style.sh

@@ -24,6 +24,7 @@ exec find boards msg src platforms test \
     -path src/modules/ekf2/EKF/yaw_estimator/derivation/generated -prune -o \
     -path src/modules/gyro_fft/CMSIS_5 -prune -o \
     -path src/modules/mavlink/mavlink -prune -o \
+    -path test/fuzztest -prune -o \
     -path test/mavsdk_tests/catch2 -prune -o \
     -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/crypto/libtomcrypt -prune -o \

cmake/gtest/CMakeLists.txt.in

@@ -1,18 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-
-project(googletest-download NONE)
-
-include(ExternalProject)
-ExternalProject_Add(googletest
-	URL https://github.com/google/googletest/archive/b796f7d44681514f58a683a3a71ff17c94edb0c1.zip # 1.13
-	SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-src"
-	BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-build"
-	CONFIGURE_COMMAND ""
-	BUILD_COMMAND ""
-	INSTALL_COMMAND ""
-	TEST_COMMAND ""
-	# Wrap download, configure and build steps in a script to log output
-    LOG_DOWNLOAD ON
-    LOG_CONFIGURE ON
-    LOG_BUILD ON
-)

cmake/gtest/gtest.cmake

@@ -1,52 +0,0 @@
-############################################################################
-#
-# Copyright (c) 2019 PX4 Development Team. 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 name PX4 nor the names of its 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 OWNER 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.
-#
-############################################################################
-
-# Download and unpack googletest at configure time
-configure_file(${CMAKE_CURRENT_LIST_DIR}/CMakeLists.txt.in googletest-download/CMakeLists.txt)
-execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" . RESULT_VARIABLE result1 WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/googletest-download)
-execute_process(COMMAND ${CMAKE_COMMAND} --build . RESULT_VARIABLE result2 WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/googletest-download)
-if(result1 OR result2)
-	message(FATAL_ERROR "Preparing googletest failed: ${result1} ${result2}")
-endif()
-
-# Add googletest, defines gtest and gtest_main targets
-add_subdirectory(${CMAKE_CURRENT_BINARY_DIR}/googletest-src ${CMAKE_CURRENT_BINARY_DIR}/googletest-build EXCLUDE_FROM_ALL)
-
-# Remove visibility.h from the compile flags for gtest because of poisoned exit()
-get_target_property(GTEST_COMPILE_FLAGS gtest COMPILE_OPTIONS)
-list(REMOVE_ITEM GTEST_COMPILE_FLAGS "-include")
-list(REMOVE_ITEM GTEST_COMPILE_FLAGS "visibility.h")
-# Remove float warnings added by PX4 which trigger in gtest-printers.h
-list(REMOVE_ITEM GTEST_COMPILE_FLAGS "-Wdouble-promotion")
-list(REMOVE_ITEM GTEST_COMPILE_FLAGS "-Wfloat-equal")
-set_target_properties(gtest PROPERTIES COMPILE_OPTIONS "${GTEST_COMPILE_FLAGS}")

cmake/px4_add_common_flags.cmake

@@ -105,6 +105,7 @@ function(px4_add_common_flags)
 			-Wno-unknown-warning-option
 			-Wno-unused-const-variable
 			-Wno-varargs
+			-Wno-vla-cxx-extension # FIXME: do not use variable length arrays
 		)
 
 	elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")

cmake/px4_add_gtest.cmake

@@ -57,7 +57,7 @@ function(px4_add_unit_gtest)
 		add_executable(${TESTNAME} EXCLUDE_FROM_ALL ${SRC} ${EXTRA_SRCS})
 
 		# link the libary to test and gtest
-		target_link_libraries(${TESTNAME} ${LINKLIBS} gtest_main)
+		target_link_libraries(${TESTNAME} PRIVATE ${LINKLIBS})
 
 		if(COMPILE_FLAGS)
 			target_compile_options(${TESTNAME} PRIVATE ${COMPILE_FLAGS})
@@ -66,6 +66,7 @@ function(px4_add_unit_gtest)
 		if(INCLUDES)
 			target_include_directories(${TESTNAME} PRIVATE ${INCLUDES})
 		endif()
+		link_fuzztest(${TESTNAME})
 
 		# add the test to the ctest plan
 		add_test(NAME ${TESTNAME}
@@ -97,7 +98,7 @@ function(px4_add_functional_gtest)
 		add_executable(${TESTNAME} EXCLUDE_FROM_ALL ${SRC} ${EXTRA_SRCS})
 
 		# link the libary to test and gtest
-		target_link_libraries(${TESTNAME} ${LINKLIBS} gtest_functional_main
+		target_link_libraries(${TESTNAME} PRIVATE ${LINKLIBS} gtest_functional_main
 		                                              px4_layer
 		                                              px4_platform
 		                                              uORB
@@ -111,7 +112,9 @@ function(px4_add_functional_gtest)
 		                                              perf
 		                                              tinybson
 		                                              uorb_msgs
-		                                              test_stubs)  #put test_stubs last
+		                                              fuzztest::fuzztest # Do not use link_fuzztest() here because that
+				                                      # also links to fuzztest_gtest_main
+		                                              test_stubs)  # put test_stubs last
 
 		if(COMPILE_FLAGS)
 			target_compile_options(${TESTNAME} PRIVATE ${COMPILE_FLAGS})

platforms/posix/src/px4/common/gtest_runner/CMakeLists.txt

@@ -36,4 +36,4 @@ set(SRCS
    )
 
 px4_add_library(gtest_functional_main ${SRCS})
-target_link_libraries(gtest_functional_main PUBLIC gtest)
+target_link_libraries(gtest_functional_main PUBLIC gtest fuzztest::init_fuzztest)

platforms/posix/src/px4/common/gtest_runner/gtest_functional_main.cpp

@@ -32,6 +32,7 @@
  ****************************************************************************/
 
 #include <gtest/gtest.h>
+#include <fuzztest/init_fuzztest.h>
 
 #include <uORB/Subscription.hpp>
 
@@ -41,6 +42,9 @@ int main(int argc, char **argv)
 {
 	testing::InitGoogleTest(&argc, argv);
 
+	fuzztest::ParseAbslFlags(argc, argv);
+	fuzztest::InitFuzzTest(&argc, &argv);
+
 	uORB::Manager::initialize();
 	param_init();
 	return RUN_ALL_TESTS();

test/CMakeLists.txt

@@ -0,0 +1,23 @@
+px4_add_git_submodule(TARGET git_fuzztest PATH "fuzztest")
+
+message(STATUS "Adding fuzztest")
+# This will also add GTest
+add_subdirectory(fuzztest EXCLUDE_FROM_ALL)
+
+# Ensure there's no -R without any filter expression since that trips newer ctest versions
+if(TESTFILTER)
+    set(TESTFILTERARG "-R")
+else()
+    set(TESTFILTERARG "")
+endif()
+
+add_custom_target(test_results
+        # antlr4_tests_NOT_BUILT gets added by fuzztest
+        COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test ${TESTFILTERARG} ${TESTFILTER} --exclude-regex "antlr4_tests_NOT_BUILT"
+        DEPENDS
+        px4
+        examples__dyn_hello
+        USES_TERMINAL
+        COMMENT "Running tests"
+        WORKING_DIRECTORY ${PX4_BINARY_DIR})
+set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)