New Crowdin translations - zh-CN (#25202)

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docs/zh/test_and_ci/docker.md

@@ -16,16 +16,16 @@ PX4 containers are currently only supported on Linux (if you don't have Linux yo
 Do not use `boot2docker` with the default Linux image because it contains no X-Server.
 :::
 
-[Install Docker](https://docs.docker.com/installation/) for your Linux computer, preferably using one of the Docker-maintained package repositories to get the latest stable version. You can use either the _Enterprise Edition_ or (free) _Community Edition_.
+[Install Docker](https://docs.docker.com/get-started/get-docker/) for your Linux computer, preferably using one of the Docker-maintained package repositories to get the latest stable version. You can use either the _Enterprise Edition_ or (free) _Community Edition_.
 
-For local installation of non-production setups on _Ubuntu_, the quickest and easiest way to install Docker is to use the [convenience script](https://docs.docker.com/install/linux/docker-ce/ubuntu/#install-using-the-convenience-script) as shown below (alternative installation methods are found on the same page):
+For local installation of non-production setups on _Ubuntu_, the quickest and easiest way to install Docker is to use the [convenience script](https://docs.docker.com/engine/install/ubuntu/#install-using-the-convenience-script) as shown below (alternative installation methods are found on the same page):
 
 ```sh
 curl -fsSL get.docker.com -o get-docker.sh
 sudo sh get-docker.sh
 ```
 
-The default installation requires that you invoke _Docker_ as the root user (i.e. using `sudo`). However, for building the PX4 firmware we suggest to [use docker as a non-root user](https://docs.docker.com/install/linux/linux-postinstall/#manage-docker-as-a-non-root-user). That way, your build folder won't be owned by root after using docker.
+The default installation requires that you invoke _Docker_ as the root user (i.e. using `sudo`). However, for building the PX4 firmware we suggest to [use docker as a non-root user](https://docs.docker.com/engine/install/linux-postinstall/#manage-docker-as-a-non-root-user). That way, your build folder won't be owned by root after using docker.
 
 ```sh
 # Create docker group (may not be required)

docs/zh/test_and_ci/fuzz_tests.md

@@ -0,0 +1,70 @@
+# 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.

docs/zh/test_and_ci/unit_tests.md

@@ -23,7 +23,7 @@
 Tests can be run via `make tests`, after which you will find the binary in `build/px4_sitl_test/unit-MyNewUnit`.
 也可以直接通过调试器中运行。
 
-## 写一个GTest功能测试
+## Writing a GTest Functional Test {#functional-test}
 
 当测试或测试的组件依赖参数、uORB 消息、或更高级的GTest功能的时候，应当使用GTest功能测试。
 Additionally, functional tests can contain local usage of STL data structures (although be careful of platform differences between e.g. macOS and Linux).
@@ -178,3 +178,10 @@ make tests TESTFILTER=<regex filter expression>
 - `make tests TESTFILTER=unit` only run GTest unit tests
 - `make tests TESTFILTER=sitl` only run simulation tests
 - `make tests TESTFILTER=Attitude` only run the `AttitudeControl` test
+
+## Fuzz Testing
+
+Fuzz tests are a generalised form of unit test that ensures code is robust against any input.
+They are run as part of the unit tests, and also more extensively in their own testing mode.
+
+For more information see [Fuzz Tests](../test_and_ci/fuzz_tests.md).