feat: add initial fuzzing harness

tiiuae · May 20, 2024 · 5838ac9 · 5838ac9
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diff --git a/fuzz/CMakeLists.txt b/fuzz/CMakeLists.txt
@@ -0,0 +1,69 @@
+cmake_minimum_required(VERSION 3.9.5)
+project(rplidar_fuzz)
+
+if (NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 17)
+endif ()
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations")
+
+if (CMAKE_CXX_COMPILER)
+    # Check if the CXX compiler is afl-clang or afl-clang++
+    if (CMAKE_CXX_COMPILER MATCHES "afl-clang-fast")
+        message(STATUS "Using AFL Clang compiler")
+        # Set flags for AFL
+        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=fuzzer,address,undefined -ggdb -O2 -fno-omit-frame-pointer")
+        set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fsanitize=address,undefined -ggdb -O2")
+        set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fsanitize=address,undefined -ggdb -O2")
+    else()
+        message(STATUS "Using regular Clang/GCC compiler")
+        # Enable fuzzer and address sanitizers for other compilers
+        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=fuzzer,address,undefined -ggdb -O2")
+        set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fsanitize=fuzzer,address,undefined -ggdb -O2")
+        set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fsanitize=fuzzer,address,undefined -ggdb -O2")
+    endif()
+
+    message(STATUS "CXX Flags after: ${CMAKE_CXX_FLAGS}")
+
+    # Include directories for the SDK library
+    include_directories(
+            ../sdk/include
+            ../sdk/src
+            ../sdk/src/arch/linux
+            ../sdk/src/hal)
+
+    # Create instrumented SDK library
+    add_library(rplidar_sdk_instr SHARED
+            ../sdk/src/rplidar_driver.cpp
+            ../sdk/src/arch/linux/net_serial.cpp
+            ../sdk/src/arch/linux/net_socket.cpp
+            ../sdk/src/arch/linux/timer.cpp
+            ../sdk/src/hal/thread.cpp)
+
+    target_include_directories(rplidar_sdk_instr
+            PUBLIC
+            ../sdk/include
+            ../sdk/src
+            PRIVATE
+            ../sdk/src/arch/linux
+            ../sdk/src/hal)
+
+    # Add the fuzz test executable
+    add_executable(harness harness.cc)
+
+    # Link against the instrumented rplidar_sdk library
+    target_link_libraries(harness rplidar_sdk_instr)
+
+    # Set the RPATH to find the SDK library
+    set_target_properties(harness PROPERTIES INSTALL_RPATH "\$ORIGIN")
+
+    # Set the output directory for the instrumented SDK library
+    set_target_properties(rplidar_sdk_instr PROPERTIES
+            LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}")
+
+    # Set the output directory for the fuzz test executable
+    set_target_properties(harness PROPERTIES
+            RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}")
+else()
+    message(FATAL_ERROR "CMAKE_CXX is not set. Please specify the CXX compiler.")
+endif ()
diff --git a/fuzz/FINDINGS.md b/fuzz/FINDINGS.md
@@ -0,0 +1,146 @@
+# Findings
+
+Some initial findings that were triggered when fuzzing the SDK for a short while.
+
+## 1. Multiple memory Leaks
+
+```
+INFO: Running with entropic power schedule (0xFF, 100).
+INFO: Seed: 2732911167
+INFO: Loaded 2 modules   (3982 inline 8-bit counters): 3655 [0x7e0b2a7ef058, 0x7e0b2a7efe9f), 327 [0x6482bb2b05d8, 0x6482bb2b071f),
+INFO: Loaded 2 PC tables (3982 PCs): 3655 [0x7e0b2a7efea0,0x7e0b2a7fe310), 327 [0x6482bb2b0720,0x6482bb2b1b90),
+INFO: -max_len is not provided; libFuzzer will not generate inputs larger than 4096 bytes
+INFO: A corpus is not provided, starting from an empty corpus
+#2      INITED cov: 85 ft: 86 corp: 1/1b exec/s: 0 rss: 32Mb
+
+=================================================================
+==685022==ERROR: LeakSanitizer: detected memory leaks
+
+Direct leak of 24 byte(s) in 1 object(s) allocated from:
+    #0 0x6482bb2633e1 in operator new(unsigned long) (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x1423e1) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #1 0x7e0b2a7bd358 in rp::standalone::rplidar::RPlidarDriverSerial::RPlidarDriverSerial() /home/user/git/work/rpilidar_ros2_clean/sdk/src/rplidar_driver.cpp:2181:16
+    #2 0x7e0b2a79cebd in rp::standalone::rplidar::RPlidarDriver::CreateDriver(unsigned int) /home/user/git/work/rpilidar_ros2_clean/sdk/src/rplidar_driver.cpp:89:20
+    #3 0x6482bb265959 in LLVMFuzzerTestOneInput /home/user/git/work/rpilidar_ros2_clean/fuzz/harness.cc:38:14
+    #4 0x6482bb170cb4 in fuzzer::Fuzzer::ExecuteCallback(unsigned char const*, unsigned long) (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x4fcb4) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #5 0x6482bb1703a9 in fuzzer::Fuzzer::RunOne(unsigned char const*, unsigned long, bool, fuzzer::InputInfo*, bool, bool*) (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x4f3a9) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #6 0x6482bb172036 in fuzzer::Fuzzer::ReadAndExecuteSeedCorpora(std::vector<fuzzer::SizedFile, std::allocator<fuzzer::SizedFile>>&) (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x51036) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #7 0x6482bb1724d7 in fuzzer::Fuzzer::Loop(std::vector<fuzzer::SizedFile, std::allocator<fuzzer::SizedFile>>&) (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x514d7) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #8 0x6482bb15f9cf in fuzzer::FuzzerDriver(int*, char***, int (*)(unsigned char const*, unsigned long)) (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x3e9cf) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #9 0x6482bb18a056 in main (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x69056) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #10 0x7e0b2a42a1c9 in __libc_start_call_main csu/../sysdeps/nptl/libc_start_call_main.h:58:16
+    #11 0x7e0b2a42a28a in __libc_start_main csu/../csu/libc-start.c:360:3
+    #12 0x6482bb1549b4 in _start (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x339b4) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+
+Direct leak of 24 byte(s) in 1 object(s) allocated from:
+    #0 0x6482bb2633e1 in operator new(unsigned long) (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x1423e1) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #1 0x7e0b2a7bd358 in rp::standalone::rplidar::RPlidarDriverSerial::RPlidarDriverSerial() /home/user/git/work/rpilidar_ros2_clean/sdk/src/rplidar_driver.cpp:2181:16
+    #2 0x7e0b2a79cebd in rp::standalone::rplidar::RPlidarDriver::CreateDriver(unsigned int) /home/user/git/work/rpilidar_ros2_clean/sdk/src/rplidar_driver.cpp:89:20
+    #3 0x6482bb265959 in LLVMFuzzerTestOneInput /home/user/git/work/rpilidar_ros2_clean/fuzz/harness.cc:38:14
+    #4 0x6482bb170cb4 in fuzzer::Fuzzer::ExecuteCallback(unsigned char const*, unsigned long) (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x4fcb4) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #5 0x6482bb1703a9 in fuzzer::Fuzzer::RunOne(unsigned char const*, unsigned long, bool, fuzzer::InputInfo*, bool, bool*) (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x4f3a9) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #6 0x6482bb171b95 in fuzzer::Fuzzer::MutateAndTestOne() (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x50b95) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #7 0x6482bb1726f5 in fuzzer::Fuzzer::Loop(std::vector<fuzzer::SizedFile, std::allocator<fuzzer::SizedFile>>&) (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x516f5) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #8 0x6482bb15f9cf in fuzzer::FuzzerDriver(int*, char***, int (*)(unsigned char const*, unsigned long)) (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x3e9cf) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #9 0x6482bb18a056 in main (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x69056) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #10 0x7e0b2a42a1c9 in __libc_start_call_main csu/../sysdeps/nptl/libc_start_call_main.h:58:16
+    #11 0x7e0b2a42a28a in __libc_start_main csu/../csu/libc-start.c:360:3
+    #12 0x6482bb1549b4 in _start (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x339b4) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+
+Direct leak of 24 byte(s) in 1 object(s) allocated from:
+    #0 0x6482bb2633e1 in operator new(unsigned long) (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x1423e1) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #1 0x7e0b2a7bd358 in rp::standalone::rplidar::RPlidarDriverSerial::RPlidarDriverSerial() /home/user/git/work/rpilidar_ros2_clean/sdk/src/rplidar_driver.cpp:2181:16
+    #2 0x7e0b2a79cebd in rp::standalone::rplidar::RPlidarDriver::CreateDriver(unsigned int) /home/user/git/work/rpilidar_ros2_clean/sdk/src/rplidar_driver.cpp:89:20
+    #3 0x6482bb265959 in LLVMFuzzerTestOneInput /home/user/git/work/rpilidar_ros2_clean/fuzz/harness.cc:38:14
+    #4 0x6482bb170cb4 in fuzzer::Fuzzer::ExecuteCallback(unsigned char const*, unsigned long) (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x4fcb4) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #5 0x6482bb171ee1 in fuzzer::Fuzzer::ReadAndExecuteSeedCorpora(std::vector<fuzzer::SizedFile, std::allocator<fuzzer::SizedFile>>&) (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x50ee1) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #6 0x6482bb1724d7 in fuzzer::Fuzzer::Loop(std::vector<fuzzer::SizedFile, std::allocator<fuzzer::SizedFile>>&) (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x514d7) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #7 0x6482bb15f9cf in fuzzer::FuzzerDriver(int*, char***, int (*)(unsigned char const*, unsigned long)) (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x3e9cf) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #8 0x6482bb18a056 in main (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x69056) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #9 0x7e0b2a42a1c9 in __libc_start_call_main csu/../sysdeps/nptl/libc_start_call_main.h:58:16
+    #10 0x7e0b2a42a28a in __libc_start_main csu/../csu/libc-start.c:360:3
+    #11 0x6482bb1549b4 in _start (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x339b4) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+
+SUMMARY: AddressSanitizer: 72 byte(s) leaked in 3 allocation(s).
+INFO: to ignore leaks on libFuzzer side use -detect_leaks=0.
+```
+
+### Possible fix
+
+It seems to help to extend the destructor of the objects with a proper delete operation, similar to:
+
+```cc
+RPlidarDriverSerial::~RPlidarDriverSerial() {
+  // force disconnection
+  disconnect();
+
+  _chanDev->close();
+  _chanDev->ReleaseRxTx();
+
+  // NOTE: prevent memory leak
+  delete _chanDev;
+  _chanDev = nullptr;
+}
+```
+
+_Note_: This also needs to be done for the `RPlidarDriverTCP::~RPlidarDriverTCP()`
+
+## 2. NULL-PTR access
+
+```
+#1887   NEW    cov: 265 ft: 288 corp: 14/107b lim: 21 exec/s: 0 rss: 105Mb L: 18/21 MS: 2 ChangeBit-CrossOver-
+/home/user/git/work/rpilidar_ros2_clean/sdk/src/rplidar_driver_TCP.h:48:16: runtime error: member call on null pointer of type 'rp::net::StreamSocket'
+SUMMARY: UndefinedBehaviorSanitizer: undefined-behavior /home/user/git/work/rpilidar_ros2_clean/sdk/src/rplidar_driver_TCP.h:48:16
+AddressSanitizer:DEADLYSIGNAL
+=================================================================
+==688768==ERROR: AddressSanitizer: SEGV on unknown address 0x000000000000 (pc 0x7532a0b5440f bp 0x7fff999e3af0 sp 0x7fff999e3a60 T0)
+==688768==The signal is caused by a READ memory access.
+==688768==Hint: address points to the zero page.
+    #0 0x7532a0b5440f in rp::standalone::rplidar::TCPChannelDevice::bind(char const*, unsigned int) /home/user/git/work/rpilidar_ros2_clean/sdk/src/rplidar_driver_TCP.h:48:16
+    #1 0x7532a0b5251b in rp::standalone::rplidar::RPlidarDriverTCP::connect(char const*, unsigned int, unsigned int) /home/user/git/work/rpilidar_ros2_clean/sdk/src/rplidar_driver.cpp:2251:23
+    #2 0x595daaac4017 in LLVMFuzzerTestOneInput /home/user/git/work/rpilidar_ros2_clean/fuzz/harness.cc:60:12
+    #3 0x595daa9cecb4 in fuzzer::Fuzzer::ExecuteCallback(unsigned char const*, unsigned long) (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x4fcb4) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #4 0x595daa9ce3a9 in fuzzer::Fuzzer::RunOne(unsigned char const*, unsigned long, bool, fuzzer::InputInfo*, bool, bool*) (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x4f3a9) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #5 0x595daa9cfb95 in fuzzer::Fuzzer::MutateAndTestOne() (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x50b95) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #6 0x595daa9d06f5 in fuzzer::Fuzzer::Loop(std::vector<fuzzer::SizedFile, std::allocator<fuzzer::SizedFile>>&) (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x516f5) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #7 0x595daa9bd9cf in fuzzer::FuzzerDriver(int*, char***, int (*)(unsigned char const*, unsigned long)) (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x3e9cf) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #8 0x595daa9e8056 in main (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x69056) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+    #9 0x7532a042a1c9 in __libc_start_call_main csu/../sysdeps/nptl/libc_start_call_main.h:58:16
+    #10 0x7532a042a28a in __libc_start_main csu/../csu/libc-start.c:360:3
+    #11 0x595daa9b29b4 in _start (/home/user/git/work/rpilidar_ros2_clean/fuzz/build/harness+0x339b4) (BuildId: 7c06b0c5fb4572cd2125cd2971d87e1a2e416f2f)
+
+AddressSanitizer can not provide additional info.
+SUMMARY: AddressSanitizer: SEGV /home/user/git/work/rpilidar_ros2_clean/sdk/src/rplidar_driver_TCP.h:48:16 in rp::standalone::rplidar::TCPChannelDevice::bind(char const*, unsigned int)
+==688768==ABORTING
+MS: 5 ChangeBinInt-ChangeBinInt-CopyPart-EraseBytes-ChangeByte-; base unit: 194f4b33f5c6e20eeab91e4f162f8f5bd27143c9
+0xfd,0x0,0x0,0x2,0x2,0xe5,
+\375\000\000\002\002\345
+artifact_prefix='./'; Test unit written to ./crash-ce81a181206832f1dc742353c3e3c8ed137bcf1e
+Base64: /QAAAgLl
+```
+
+The root-cause here seems to be that if we call `drv.connect()` for a `DRIVER_TYPE_TCP` like so:
+
+```cc
+drv->connect(ip.c_str(), port);
+```
+
+on the condition that we did _not_ check _\_bindet_socket_ for NULL we can crash the process.
+
+### Possible fix:
+
+```cc
+  TCPChannelDevice() : _binded_socket(rp::net::StreamSocket::CreateSocket()) {
+    // NOTE: Include a sanity NULLPTR check
+    if (_binded_socket == nullptr) {
+      std::cerr << "Failed to create socket" << std::endl;
+    }
+  }
+  bool bind(const char *ipStr, uint32_t port) {
+    if (_binded_socket == nullptr) {
+      std::cerr << "Binded socket is null" << std::endl;
+      return false;
+    }
+    rp::net::SocketAddress socket(ipStr, port);
+    return IS_OK(_binded_socket->connect(socket));
+  }
+```
diff --git a/fuzz/Makefile b/fuzz/Makefile
@@ -0,0 +1,18 @@
+BUILD_DIR := build
+
+.PHONY: all clean fuzz afl
+
+all: fuzz
+
+clean:
+	rm -rf $(BUILD_DIR)
+
+fuzz: clean
+	mkdir -p $(BUILD_DIR)
+	cd $(BUILD_DIR) && CC=clang CXX=clang++ cmake .. && make
+	mv $(BUILD_DIR)/harness harness
+
+afl: clean
+	mkdir -p $(BUILD_DIR)
+	cd $(BUILD_DIR) && CC=afl-clang-fast CXX=afl-clang-fast++ cmake .. && make
+	mv $(BUILD_DIR)/harness harness_afl
diff --git a/fuzz/README.md b/fuzz/README.md
@@ -0,0 +1,22 @@
+# Fuzzing setup
+
+There's an `AFL++` and a `libfuzzer` version for building.
+
+## Requirements
+
+- AFL++
+- cmake
+- make
+- clang
+- (prometheus-cpp)
+
+## How to
+
+```bash
+cd fuzz/
+# Running `make` will produce a ./harness binary that can be run as is
+make
+# Alternatively:
+make afl
+# This will produce a ./harness_afl that can be executed the AFL++ way
+```