New Crowdin translations - zh-CN (#25202)

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2026-11-04 08:31:35 +08:00 · 2025-07-13 10:37:13 +10:00
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+# Fuzz Tests
+
+Fuzz tests are a generalised form of [unit test](../test_and_ci/unit_tests.md) that run code against a large number of random inputs.
+This helps to ensure that the code is robust against any input, not just those expected by the developer.
+
+They can be written like unit tests with possible assertions (`EXPECT_EQ`, etc), and have a set of input parameters.
+The fuzzer then tries to find inputs that cause the code to crash (with [Address Sanitizer](https://clang.llvm.org/docs/AddressSanitizer.html) enabled automatically) or trigger an assertion.
+
+The tests are run as part of normal unit tests, and in a more comprehensive fuzzing mode test.
+For more information see [Running Fuzz Tests](#running-fuzz-tests) below.
+
+## Writing a Fuzz Test
+
+To write a fuzz test:
+
+1. Start by writing a "normal" [functional test](../test_and_ci/unit_tests.md#functional-test).
+2. Make sure the file name contains `fuzz` (lower case).
+  For example `my_driver_fuzz_tests.cpp`.
+3. Add one or more fuzz tests to the file.
+  例如：
+
+   ```cpp
+   #include <gtest/gtest.h>
+   #include <fuzztest/fuzztest.h>
+   
+   void myDriverNeverCrashes(const std::string& s) {
+      MyDriver driver;
+      driver.handleInput(s);
+   }
+   FUZZ_TEST(MyDriverFuzzTests, myDriverNeverCrashes);
+   ```
+
+The file can also contain normal tests.
+For more information, see https://github.com/google/fuzztest.
+
+A complete example in the PX4 repository can be found in the [septentrio driver](https://github.com/PX4/PX4-Autopilot/blob/main/src/drivers/gnss/septentrio/septentrio_fuzz_tests.cpp).
+
+## Running Fuzz Tests
+
+Fuzz tests can be run in two modes:
+
+- As part of normal unit tests with `make tests`.
+  This will only create a small number of inputs and not use coverage information.
+- In fuzzing mode: this runs a single fuzz test with coverage information over a longer period of time (either fixed or indefinitely).
+  The fuzzer will try to find inputs that cover all reachable code paths.
+  It requires compilation with Clang and can be run with the following commands:
+
+  ```sh
+  rm -rf build/px4_sitl_tests
+  export CC=clang
+  export CXX=clang++
+  make tests TESTFILTER=__no_tests__
+  cd build/px4_sitl_tests
+  ./functional-<my-test> --fuzz=<test-name>
+  ```
+
+## Seeds
+
+Depending on the code complexity, it might be hard for the fuzzer to find inputs that pass certain conditions.
+For this it is possible to provide one or more seeds, which the fuzzer will use as first inputs.
+[The google documentation](https://github.com/google/fuzztest/blob/main/doc/fuzz-test-macro.md#initial-seeds-initial-seeds) contains more details.
+
+You can also use the `FUZZING_BUILD_MODE_UNSAFE_FOR_PRODUCTION` macro for conditional code compilation, for example to exclude CRC checks.
+
+More information about efficient fuzzing can be found on [this page](https://chromium.googlesource.com/chromium/src/+/main/testing/libfuzzer/efficient_fuzzing.md).
+
+## CI
+
+Fuzz tests are run as part of the normal unit tests in CI for each pull request.
+In addition, the fuzz tests are run daily for 15 minutes on the main branch.