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build: disable fuzztest when building with TSAN

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fuzztest's coverage instrumentation is incompatible with Thread
Sanitizer. Add px4_setup_gtest_without_fuzztest() macro to
cmake/px4_add_gtest.cmake that fetches GTest standalone and stubs out
fuzztest cmake functions. Guard all fuzztest-specific code on
TARGET fuzztest::fuzztest so it compiles cleanly without fuzztest.
This commit is contained in:
Julian Oes
2026-02-19 06:07:16 +13:00
parent 64ddfebfc6
commit 5dbf62cd11
6 changed files with 79 additions and 35 deletions
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cmake/px4_add_gtest.cmake
+46 -17
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@@ -31,6 +31,30 @@
#
############################################################################
#=============================================================================
#
# px4_setup_gtest_without_fuzztest
#
# Fetches GTest standalone and stubs out fuzztest cmake functions.
# Used when fuzztest is not available (e.g. TSAN builds where fuzztest's
# coverage instrumentation is incompatible).
#
macro(px4_setup_gtest_without_fuzztest)
include(FetchContent)
FetchContent_Declare(
googletest
GIT_REPOSITORY https://github.com/google/googletest.git
GIT_TAG v1.16.0
)
FetchContent_MakeAvailable(googletest)
function(link_fuzztest name)
target_link_libraries(${name} PRIVATE gtest gtest_main)
endfunction()
macro(fuzztest_setup_fuzzing_flags)
endmacro()
endmacro()
#=============================================================================
#
# px4_add_unit_gtest
@@ -98,23 +122,28 @@ function(px4_add_functional_gtest)
add_executable(${TESTNAME} EXCLUDE_FROM_ALL ${SRC} ${EXTRA_SRCS})
# link the libary to test and gtest
target_link_libraries(${TESTNAME} PRIVATE ${LINKLIBS} gtest_functional_main
px4_layer
px4_platform
uORB
systemlib
cdev
px4_work_queue
px4_daemon
work_queue
parameters
events
perf
tinybson
uorb_msgs
fuzztest::fuzztest # Do not use link_fuzztest() here because that
# also links to fuzztest_gtest_main
test_stubs) # put test_stubs last
set(_FUNCTIONAL_GTEST_LIBS ${LINKLIBS} gtest_functional_main
px4_layer
px4_platform
uORB
systemlib
cdev
px4_work_queue
px4_daemon
work_queue
parameters
events
perf
tinybson
uorb_msgs)
if(TARGET fuzztest::fuzztest)
list(APPEND _FUNCTIONAL_GTEST_LIBS fuzztest::fuzztest) # Do not use link_fuzztest() here because that
# also links to fuzztest_gtest_main
else()
list(APPEND _FUNCTIONAL_GTEST_LIBS gtest)
endif()
list(APPEND _FUNCTIONAL_GTEST_LIBS test_stubs) # put test_stubs last
target_link_libraries(${TESTNAME} PRIVATE ${_FUNCTIONAL_GTEST_LIBS})
target_compile_definitions(${TESTNAME} PRIVATE MODULE_NAME="${TESTNAME}")