tests: remove previous fuzz testing

We now use https://github.com/google/fuzztest (see previous commits).
And the test was also failing to build
(https://github.com/PX4/PX4-Autopilot/actions/workflows/cflite_batch.yml)

This reverts these commits:
- 9eda5b373c1f16ffec585a0e27d55682d5726c0e
- 2cbc99397681ad9b67f69703c5dd65eaea26c154
- be0a5b4b3272fac13716436c06ff435d157965b4

.clusterfuzzlite/Dockerfile

@@ -1,7 +0,0 @@
-FROM gcr.io/oss-fuzz-base/base-builder:v1
-COPY . $SRC/PX4-Autopilot
-RUN apt-get install -y libjpeg8-dev zlib1g-dev
-RUN pip3 install --upgrade pip
-RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
-WORKDIR $SRC/PX4-Autopilot
-COPY ./.clusterfuzzlite/build.sh $SRC/

.clusterfuzzlite/build.sh

@@ -1,4 +0,0 @@
-#!/usr/bin/env bash -eu
-
-PX4_FUZZ=1 make px4_sitl
-cp build/px4_sitl_default/bin/px4 $OUT/px4

.clusterfuzzlite/project.yaml

@@ -1 +0,0 @@
-language: c++

.github/workflows/cflite_batch.yml

@@ -1,34 +0,0 @@
-name: ClusterFuzzLite batch fuzzing
-on:
-  schedule:
-    - cron: '0 6 * * *'  # UTC 6am every day.
-permissions: read-all
-jobs:
-  BatchFuzzing:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        sanitizer:
-        - address
-        - undefined
-        - memory
-    steps:
-    - name: Build Fuzzers (${{ matrix.sanitizer }})
-      id: build
-      uses: google/clusterfuzzlite/actions/build_fuzzers@v1
-      with:
-        sanitizer: ${{ matrix.sanitizer }}
-    - name: Run Fuzzers (${{ matrix.sanitizer }})
-      id: run
-      uses: google/clusterfuzzlite/actions/run_fuzzers@v1
-      with:
-        github-token: ${{ secrets.GITHUB_TOKEN }}
-        fuzz-seconds: 1800 # 30 mins
-        mode: 'batch'
-        sanitizer: ${{ matrix.sanitizer }}
-        # Optional but recommended: For storing certain artifacts from fuzzing.
-        # See later section on "Git repo for storage".
-        # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
-        # storage-repo-branch: main   # Optional. Defaults to "main"
-        # storage-repo-branch-coverage: gh-pages  # Optional. Defaults to "gh-pages".

Makefile

@@ -160,11 +160,6 @@ else
 		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif
 
-	# Fuzz Testing
-	ifdef PX4_FUZZ
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
-	endif
-
 endif
 
 # Pick up specific Python path if set

boards/px4/sitl/sitl.cmake

@@ -8,8 +8,6 @@ if(REPLAY_FILE)
 
 	message(STATUS "Building without lockstep for replay")
 	set(ENABLE_LOCKSTEP_SCHEDULER no)
-elseif(CMAKE_BUILD_TYPE STREQUAL FuzzTesting)
-	set(ENABLE_LOCKSTEP_SCHEDULER no)
 else()
 	set(ENABLE_LOCKSTEP_SCHEDULER yes)
 endif()

cmake/px4_add_common_flags.cmake

@@ -162,7 +162,7 @@ function(px4_add_common_flags)
 		-Wno-overloaded-virtual # TODO: fix and remove
 	)
 
-	if((NOT CMAKE_BUILD_TYPE STREQUAL FuzzTesting) AND (NOT PX4_CONFIG MATCHES "px4_sitl"))
+	if((NOT BUILD_TESTING) AND (NOT PX4_CONFIG MATCHES "px4_sitl"))
 		list(APPEND cxx_flags
 			-fno-rtti
 		)

cmake/sanitizers.cmake

@@ -131,23 +131,6 @@ elseif (CMAKE_BUILD_TYPE STREQUAL UndefinedBehaviorSanitizer)
 		set_tests_properties(${test_name} PROPERTIES FAIL_REGULAR_EXPRESSION "runtime error:")
 	endfunction(sanitizer_fail_test_on_error)
 
-elseif (CMAKE_BUILD_TYPE STREQUAL FuzzTesting)
-	message(STATUS "FuzzTesting enabled")
-
-	add_compile_options(
-		-g3
-		-fsanitize=fuzzer
-		-DFUZZTESTING
-	)
-
-	set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fsanitize=fuzzer $ENV{LIB_FUZZING_ENGINE}" CACHE INTERNAL "" FORCE)
-	set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fsanitize=fuzzer $ENV{LIB_FUZZING_ENGINE}" CACHE INTERNAL "" FORCE)
-	set(CMAKE_MODULE_LINKER_FLAGS "${CMAKE_MODULE_LINKER_FLAGS} -fsanitize=fuzzer $ENV{LIB_FUZZING_ENGINE}" CACHE INTERNAL "" FORCE)
-
-
-	function(sanitizer_fail_test_on_error test_name)
-		# Not sure what to do here
-	endfunction(sanitizer_fail_test_on_error)
 else()
 
 	function(sanitizer_fail_test_on_error test_name)

platforms/posix/CMakeLists.txt

@@ -21,19 +21,12 @@ px4_posix_generate_alias(
 	PREFIX ${PX4_SHELL_COMMAND_PREFIX}
 )
 
-if (CMAKE_BUILD_TYPE STREQUAL FuzzTesting)
+add_definitions(-DPX4_SOURCE_DIR="${PX4_SOURCE_DIR}" -DPX4_BINARY_DIR="${PX4_BINARY_DIR}")
-	add_executable(px4
-		src/px4/common/main_fuzztesting.cpp
-		apps.cpp
-		)
-else()
-	add_definitions(-DPX4_SOURCE_DIR="${PX4_SOURCE_DIR}" -DPX4_BINARY_DIR="${PX4_BINARY_DIR}")
 
-	add_executable(px4
+add_executable(px4
-		src/px4/common/main.cpp
+	src/px4/common/main.cpp
-		apps.cpp
+	apps.cpp
-		)
+	)
-endif()
 
 if (BUILD_TESTING)
 	# Build mavlink fuzz tests. These run other modules and thus cannot be a functional/unit test
@@ -83,11 +76,6 @@ endif()
 
 target_link_libraries(px4 PRIVATE uORB)
 
-if (CMAKE_BUILD_TYPE STREQUAL FuzzTesting)
-	target_include_directories(px4 PRIVATE SYSTEM "${CMAKE_BINARY_DIR}/mavlink}")
-	target_compile_options(px4 PRIVATE "-Wno-cast-align")
-endif()
-
 #=============================================================================
 # install
 #

platforms/posix/src/px4/common/main_fuzztesting.cpp

@@ -1,158 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2022 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.
- *
- ****************************************************************************/
-
-/**
- * This is an alternative main entrypoint for fuzz testing.
- */
-
-#include <stdint.h>
-
-#include "px4_platform_common/init.h"
-#include "px4_platform_common/posix.h"
-#include "apps.h"
-#include "px4_daemon/client.h"
-#include "px4_daemon/server.h"
-#include "px4_daemon/pxh.h"
-
-#include <netinet/in.h>
-#include <arpa/inet.h>
-#include "common/mavlink.h"
-
-#define MODULE_NAME "px4"
-
-#ifndef PATH_MAX
-#define PATH_MAX 1024
-#endif
-
-
-namespace px4
-{
-void init_once();
-}
-
-extern "C" int LLVMFuzzerTestOneInput(const uint8_t *data, const size_t size);
-void initialize_fake_px4_once();
-void send_mavlink(const uint8_t *data, const size_t size);
-
-
-extern "C" int LLVMFuzzerTestOneInput(const uint8_t *data, const size_t size)
-{
-	initialize_fake_px4_once();
-
-	send_mavlink(data, size);
-
-	return 0;
-}
-
-void initialize_fake_px4_once()
-{
-	static bool first_time = true;
-
-	if (!first_time) {
-		return;
-	}
-
-	first_time = false;
-
-	px4::init_once();
-	px4::init(0, nullptr, "px4");
-
-	px4_daemon::Pxh pxh;
-	pxh.process_line("uorb start", true);
-	pxh.process_line("param load", true);
-	pxh.process_line("dataman start", true);
-	pxh.process_line("load_mon start", true);
-	pxh.process_line("battery_simulator start", true);
-	pxh.process_line("tone_alarm start", true);
-	pxh.process_line("rc_update start", true);
-	pxh.process_line("sensors start", true);
-	pxh.process_line("commander start", true);
-	pxh.process_line("navigator start", true);
-	pxh.process_line("ekf2 start", true);
-	pxh.process_line("mc_att_control start", true);
-	pxh.process_line("mc_pos_control start", true);
-	pxh.process_line("land_detector start multicopter", true);
-	pxh.process_line("logger start", true);
-	pxh.process_line("mavlink start -x -o 14540 -r 4000000", true);
-	pxh.process_line("mavlink boot_complete", true);
-}
-
-void send_mavlink(const uint8_t *data, const size_t size)
-{
-	int socket_fd = socket(AF_INET, SOCK_DGRAM, 0);
-
-	if (socket_fd < 0) {
-		PX4_ERR("socket error: %s", strerror(errno));
-		return;
-	}
-
-	struct sockaddr_in addr {};
-
-	addr.sin_family = AF_INET;
-
-	inet_pton(AF_INET, "0.0.0.0", &(addr.sin_addr));
-
-	addr.sin_port = htons(14540);
-
-	if (bind(socket_fd, reinterpret_cast<sockaddr *>(&addr), sizeof(addr)) != 0) {
-		PX4_ERR("bind error: %s", strerror(errno));
-		close(socket_fd);
-		return;
-	}
-
-	mavlink_message_t message {};
-	uint8_t buffer[MAVLINK_MAX_PACKET_LEN] {};
-
-	for (size_t i = 0; i < size; i += sizeof(message)) {
-
-		const size_t copy_len = std::min(sizeof(message), size - i);
-		//printf("copy_len: %zu, %zu (%zu)\n", i, copy_len, size);
-		memcpy(reinterpret_cast<void *>(&message), data + i, copy_len);
-
-		const ssize_t buffer_len = mavlink_msg_to_send_buffer(buffer, &message);
-
-		struct sockaddr_in dest_addr {};
-		dest_addr.sin_family = AF_INET;
-
-		inet_pton(AF_INET, "127.0.0.1", &dest_addr.sin_addr.s_addr);
-		dest_addr.sin_port = htons(14556);
-
-		if (sendto(socket_fd, buffer, buffer_len, 0, reinterpret_cast<sockaddr *>(&dest_addr),
-			   sizeof(dest_addr)) != buffer_len) {
-			PX4_ERR("sendto error: %s", strerror(errno));
-		}
-	}
-
-
-	close(socket_fd);
-}