Enable UBSan for telemetry/web_server QEMU tests

.github/workflows/cpp-car.yml

@@ -177,8 +177,67 @@ jobs:
       run: ./scripts/run_clang_tidy.sh
       working-directory: car
 
+  ubsan:
+    needs: build-docker
+    permissions:
+      contents: read
+      actions: read
+
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        include:
+          - name: telemetry
+            path: car/components/telemetry/test_apps
+            pytest_pattern: pytest_telemetry_qemu.py
+          - name: web_server
+            path: car/components/web_server/test_apps
+            pytest_pattern: pytest_web_server_qemu.py
+
+    container:
+      image: ghcr.io/ltowarek/dust-mite-cpp-devcontainer
+      options: --user root
+      credentials:
+        username: ${{ github.repository_owner }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+
+    defaults:
+      run:
+        shell: bash
+
+    steps:
+    - name: Checkout
+      uses: actions/checkout@v4
+      with:
+        submodules: recursive
+
+    - name: Cache ccache
+      uses: actions/cache@v5
+      with:
+        path: ${{ github.workspace }}/.ccache
+        key: ccache-${{ runner.os }}-idf-ubsan-${{ matrix.name }}-${{ github.run_id }}
+        restore-keys: |
+          ccache-${{ runner.os }}-idf-ubsan-${{ matrix.name }}-
+          ccache-${{ runner.os }}-idf-ubsan-
+
+    - name: Build
+      env:
+        CCACHE_DIR: ${{ github.workspace }}/.ccache
+        SDKCONFIG_DEFAULTS: sdkconfig.defaults;sdkconfig.defaults.qemu;sdkconfig.defaults.ubsan
+      run: |
+        source $IDF_PATH/export.sh
+        idf.py build
+      working-directory: ${{ matrix.path }}
+
+    - name: Run QEMU tests
+      run: |
+        source $IDF_PATH/export.sh
+        pytest ${{ matrix.pytest_pattern }} --embedded-services idf,qemu -v
+      working-directory: ${{ matrix.path }}
+
   ci-status-cpp-car:
-    needs: [build-docker, build, clang-format, clang-tidy]
+    needs: [build-docker, build, clang-format, clang-tidy, ubsan]
     if: always()
     runs-on: ubuntu-latest
     steps:

CONTRIBUTING.md

@@ -452,6 +452,29 @@ tolerates that link failure and only requires `compile_commands.json` to be gene
 `clang-tidy` CI job is blocking (part of `ci-status-cpp-car`); since `WarningsAsErrors` is
 empty, it only fails on a genuine clang-tidy tool error, not on findings.
 
+#### UndefinedBehaviorSanitizer (UBSan)
+
+A QEMU test app can opt in to building its component under test with
+[UndefinedBehaviorSanitizer](https://docs.espressif.com/projects/esp-idf/en/latest/esp32s3/api-guides/fatal-errors.html#undefined-behavior-sanitizer-ubsan-checks).
+Enable it by adding a `CONFIG_<COMPONENT>_TEST_UBSAN` Kconfig boolean (default `n`) to the test
+app's `main/Kconfig.projbuild`, a matching `sdkconfig.defaults.ubsan` overlay that sets it to
+`y`, and guarding the sanitizer flags in the test app's `CMakeLists.txt`:
+
+```cmake
+if(CONFIG_<COMPONENT>_TEST_UBSAN)
+    idf_component_get_property(<component>_lib <component> COMPONENT_LIB)
+    target_compile_options(${<component>_lib} PRIVATE "-fsanitize=undefined" "-fno-sanitize=shift-base")
+endif()
+```
+
+Scoping the flags to just the component under test (rather than the whole app) follows ESP-IDF's
+documented pattern — enabling UBSan project-wide grows code/data size too much to fit on-target,
+which is also why it is never enabled for the production firmware build. A dedicated `ubsan` CI
+job builds and runs each opted-in test app with `sdkconfig.defaults.ubsan` layered on top of
+`sdkconfig.defaults.qemu`, using its own matrix (separate from the `build` job's matrix) so the
+default test apps keep building without the sanitizer. The `ubsan` CI job is blocking (part of
+`ci-status-cpp-car`).
+
 ### Car test types
 
 Test scope and execution environment are independent choices. Scope determines what is under test; environment determines where it runs.

car/components/telemetry/test_apps/CMakeLists.txt

@@ -4,4 +4,12 @@ set(EXTRA_COMPONENT_DIRS "../.." "../../DFRobot_AXP313A/DFRobot_AXP313A/esp_idf"
 set(COMPONENTS main)
 
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
-project(telemetry_test)
+project(telemetry_test)
+
+# Opt-in via CONFIG_TELEMETRY_TEST_UBSAN (see CONTRIBUTING.md); scoped to the
+# component under test since enabling UBSan project-wide grows code/data size
+# too much to fit on-target.
+if(CONFIG_TELEMETRY_TEST_UBSAN)
+    idf_component_get_property(telemetry_lib telemetry COMPONENT_LIB)
+    target_compile_options(${telemetry_lib} PRIVATE "-fsanitize=undefined" "-fno-sanitize=shift-base")
+endif()

car/components/telemetry/test_apps/main/Kconfig.projbuild

@@ -8,4 +8,12 @@ config TELEMETRY_TEST_QEMU_MODE
         binary runs under QEMU. Hardware-dependent test cases report
         TEST_IGNORE instead of crashing on missing peripherals.
 
+config TELEMETRY_TEST_UBSAN
+    bool "Build telemetry with UndefinedBehaviorSanitizer"
+    default n
+    help
+        Compiles the telemetry component under test with -fsanitize=undefined.
+        Opt-in: not part of the default build, only enabled by the dedicated
+        UBSan CI job/sdkconfig overlay.
+
 endmenu

car/components/telemetry/test_apps/sdkconfig.defaults.ubsan

@@ -0,0 +1 @@
+CONFIG_TELEMETRY_TEST_UBSAN=y

car/components/web_server/test_apps/CMakeLists.txt

@@ -3,3 +3,11 @@ set(EXTRA_COMPONENT_DIRS "../.." "../../DFRobot_AXP313A/DFRobot_AXP313A/esp_idf"
 set(COMPONENTS main)
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(web_server_test)
+
+# Opt-in via CONFIG_WEB_SERVER_TEST_UBSAN (see CONTRIBUTING.md); scoped to the
+# component under test since enabling UBSan project-wide grows code/data size
+# too much to fit on-target.
+if(CONFIG_WEB_SERVER_TEST_UBSAN)
+    idf_component_get_property(web_server_lib web_server COMPONENT_LIB)
+    target_compile_options(${web_server_lib} PRIVATE "-fsanitize=undefined" "-fno-sanitize=shift-base")
+endif()

car/components/web_server/test_apps/main/Kconfig.projbuild

@@ -8,4 +8,12 @@ config WEB_SERVER_TEST_QEMU_MODE
         test binary runs under QEMU. Hardware-dependent test cases report
         TEST_IGNORE instead of blocking on missing peripherals.
 
+config WEB_SERVER_TEST_UBSAN
+    bool "Build web_server with UndefinedBehaviorSanitizer"
+    default n
+    help
+        Compiles the web_server component under test with -fsanitize=undefined.
+        Opt-in: not part of the default build, only enabled by the dedicated
+        UBSan CI job/sdkconfig overlay.
+
 endmenu

car/components/web_server/test_apps/sdkconfig.defaults.ubsan

@@ -0,0 +1 @@
+CONFIG_WEB_SERVER_TEST_UBSAN=y