Fuzzing-based Mutation Testing of C/C++ Software in Cyber-Physical Systems

Mutation testing can help minimize the delivery of faulty software. Therefore, it is a recommended practice for developing embedded software in safety-critical cyber-physical systems (CPS). However, state-of-the-art mutation testing techniques for C and C++ software, which are common languages for CPS, depend on symbolic execution. Unfortunately, symbolic execution's limitations hinder its applicability (e.g., systems with black-box components). We propose relying on fuzz testing, which has demonstrated its effectiveness for C and C++ software. Fuzz testing tools automatically create test inputs that explore program branches in various ways, exercising statements in different program states, and thus enabling the detection of mutants, which is our objective. We empirically evaluated our approach using software components from operational satellite systems. Our assessment shows that our approach can detect between 40% and 90% of the mutants not detected by developers' test suites. Further, we empirically determined that the best results are obtained by integrating the Clang compiler, a memory address sanitizer, and relying on laf-intel instrumentation to collect coverage and guide fuzzing. Our approach detects a significantly higher percentage of live mutants compared to symbolic execution, with an increase of up to 50 percentage points; further, we observed that although the combination of fuzzing and symbolic execution leads to additional mutants being killed, the benefits are minimal (a gain of less than one percentage point).