Testing

Hawkeye uses CTest for its unit and integration tests. Tests live under tests/ and cover the core algorithms, data sources, ULog parser, replay logic, theme engine, UI logic, and OBJ model loader.

Running the full test suite

make test

This builds Hawkeye with -DBUILD_TESTING=ON and runs every test under ctest. Failures print full output (--output-on-failure).

Core tests only (fast path)

For CI and quick iteration where you don't want to pull in raylib:

make test-core

This enables -DBUILD_TESTING_ONLY=ON, skipping the rendering stack and building only the headless core tests. Much faster than a full build.

Sanitizer build

To catch memory errors and undefined behavior:

make sanitize

This enables AddressSanitizer and UndefinedBehaviorSanitizer (-fsanitize=address,undefined), along with -fno-omit-frame-pointer for useful stack traces on failure. Run the resulting binary through the test suite or your usual workflow; sanitizer output is printed to stderr when issues are detected.

Test files

File	Coverage
test_algorithms.c	CUSUM takeoff detection, Pearson correlation, RMSE
test_data_source.c	Live/replay source abstraction, message dispatch
test_obj_models.c	Wavefront OBJ loader, texcoord validation
test_theme.c	.mvt theme parser, palette lookup
test_ui_logic.c	HUD state, vehicle selection, marker handling
test_ulog_parser.c	ULog file format parsing
test_ulog_replay.c	Replay transport, interpolation, seek

Test fixtures are under tests/fixtures/.

Integration testing with PX4 SITL

tests/swarm_test.py is a MAVSDK-based integration test that orchestrates a five-vehicle SITL swarm: it sets spawn offsets, arms all vehicles, takes off, flies a waypoint, and lands. Not run by make test (requires PX4 SITL instances to be running); see Live SITL Integration for how to run it.

Running a single test under CTest

cd build
ctest -R algorithms --output-on-failure

The -R <regex> flag restricts to matching test names.