Bump to latest open source publish of libswiftnav

Dockerfile

@@ -1,6 +1,7 @@
 # Base image is created by https://github.com/swift-nav/docker-recipes
-FROM 571934480752.dkr.ecr.us-west-2.amazonaws.com/swift-build:2021-06-07
+FROM 571934480752.dkr.ecr.us-west-2.amazonaws.com/swift-build-modern-rust:2023-04-25
 
 # Add anything that's specific to this repo's build environment here.
-RUN sudo mkdir -p /usr/share/man/man1
-RUN sudo apt-get update && sudo apt-get install -y sqlite3 afl++
+RUN sudo mkdir -p /usr/share/man/man1 \
+    && sudo apt-get update \
+    && sudo apt-get install --no-install-recommends -y sqlite3 afl++

Jenkinsfile

@@ -30,21 +30,6 @@ pipeline {
         buildDiscarder(logRotator(daysToKeepStr: '3'))
     }
 
-    // Overwrite in stages that need clang
-    environment {
-        // Default compiler. Override in each stage as needed.
-        CC='gcc-6'
-        CXX='g++-6'
-        COMPILER='gcc-6'
-
-        // Default parallelism for make
-        MAKEJ='4'
-
-        // Since ~/.ccache is mounted from a shared NFS disk, make sure the temp
-        // dir is local to the container.
-        CCACHE_TEMPDIR='/tmp/ccache_tmp'
-    }
-
     stages {
         stage('Build') {
             parallel {

c/afl/make_afl_testcases.c

@@ -1,6 +1,7 @@
 #define _GNU_SOURCE
 
 #include "make_afl_testcases.h"
+
 #include <assert.h>
 #include <fcntl.h>
 #include <stdio.h>

c/afl/make_rtcm_testcases.c

@@ -4,6 +4,7 @@
 #include <string.h>
 #include <swiftnav/bits.h>
 #include <swiftnav/edc.h>
+
 #include "make_afl_testcases.h"
 
 #define RTCM3_PREAMBLE 0xD3

c/afl/make_ubx_testcases.c

@@ -1,5 +1,6 @@
 #include <ubx/decode.h>
 #include <ubx/encode.h>
+
 #include "make_afl_testcases.h"
 
 static u8 output_buf[4096];

c/gnss_converters/include/gnss-converters/ixcom_sbp.h

@@ -13,13 +13,11 @@
 #ifndef GNSS_CONVERTERS_IXCOM_SBP_INTERFACE_H
 #define GNSS_CONVERTERS_IXCOM_SBP_INTERFACE_H
 
+#include <ixcom/messages.h>
+#include <libsbp/sbp.h>
 #include <stddef.h>
 #include <unistd.h>
 
-#include <libsbp/sbp.h>
-
-#include <ixcom/messages.h>
-
 #ifdef __cplusplus
 extern "C" {
 #endif

c/gnss_converters/include/gnss-converters/ubx_sbp.h

@@ -13,15 +13,15 @@
 #ifndef GNSS_CONVERTERS_UBX_SBP_INTERFACE_H
 #define GNSS_CONVERTERS_UBX_SBP_INTERFACE_H
 
+#include <gnss-converters/eph_sat_data.h>
 #include <libsbp/sbp.h>
 #include <libsbp/v4/gnss.h>
 #include <libsbp/v4/navigation.h>
 #include <libsbp/v4/observation.h>
 #include <libsbp/v4/orientation.h>
+#include <swiftnav/bytestream.h>
 #include <unistd.h>
 
-#include <gnss-converters/eph_sat_data.h>
-#include <swiftnav/bytestream.h>
 #include "swiftnav/gnss_time.h"
 #include "swiftnav/signal.h"
 

c/gnss_converters/src/ixcom_sbp.c

@@ -1,14 +1,11 @@
 #include <assert.h>
-#include <math.h>
-#include <stddef.h>
-#include <string.h>
-
+#include <gnss-converters/ixcom_sbp.h>
 #include <ixcom/decode.h>
 #include <libsbp/v4/imu.h>
 #include <libsbp/v4/vehicle.h>
-
-#include <gnss-converters/ixcom_sbp.h>
-
+#include <math.h>
+#include <stddef.h>
+#include <string.h>
 #include <swiftnav/constants.h>
 
 #define ODO_TIMESOURCE_GPS 0x1

c/gnss_converters/src/nmea.c

@@ -10,15 +10,12 @@
  * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
  */
 
-#include "sbp_nmea_internal.h"
-
 #include <assert.h>
+#include <gnss-converters/nmea.h>
 #include <math.h>
 #include <stdarg.h>
 #include <stdlib.h>
 #include <string.h>
-
-#include <gnss-converters/nmea.h>
 #include <swiftnav/array_tools.h>
 #include <swiftnav/common.h>
 #include <swiftnav/constants.h>
@@ -27,6 +24,8 @@
 #include <swiftnav/pvt_result.h>
 #include <swiftnav/signal.h>
 
+#include "sbp_nmea_internal.h"
+
 /** \addtogroup io
  * \{ */
 

c/gnss_converters/src/options.c

@@ -10,7 +10,6 @@
  * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
  */
 #include <assert.h>
-
 #include <gnss-converters/options.h>
 #include <rtcm3/constants.h>
 #include <rtcm3/msm_utils.h>

c/gnss_converters/src/rtcm3_sbp.c

@@ -134,8 +134,8 @@ void rtcm2sbp_decode_payload(const uint8_t *payload,
                              uint32_t payload_length,
                              struct rtcm3_sbp_state *state) {
   (void)payload_length;
-  swiftnav_bitstream_t bitstream;
-  swiftnav_bitstream_init(&bitstream, payload, payload_length * 8);
+  swiftnav_in_bitstream_t bitstream;
+  swiftnav_in_bitstream_init(&bitstream, payload, payload_length * 8);
 
   if (payload_length < 2) {
     return;
@@ -1349,14 +1349,14 @@ void send_sbp_log_message(const uint8_t level,
       rtcm_stn_to_sbp_sender_id(stn_id), SbpMsgLog, &msg, state->context);
 }
 
-void send_MSM_warning(const swiftnav_bitstream_t *bitstream,
+void send_MSM_warning(const swiftnav_in_bitstream_t *bitstream,
                       struct rtcm3_sbp_state *state) {
   if (!state->sent_msm_warning) {
     /* Only send 1 warning */
     state->sent_msm_warning = true;
     /* Get the stn ID as well */
     uint32_t stn_id = 0;
-    if (swiftnav_bitstream_getbitu(bitstream, &stn_id, 12, 24)) {
+    if (swiftnav_in_bitstream_getbitu(bitstream, &stn_id, 12, 24)) {
       uint8_t msg[39] = "MSM1-3 Messages currently not supported";
       send_sbp_log_message(
           RTCM_MSM_LOGGING_LEVEL, msg, sizeof(msg), stn_id, state);

c/gnss_converters/src/rtcm3_sbp_ephemeris.c

@@ -15,6 +15,7 @@
 #include <swiftnav/constants.h>
 #include <swiftnav/ephemeris.h>
 #include <swiftnav/float_equality.h>
+
 #include "ephemeris/sbas.h"
 #include "rtcm3_sbp_internal.h"
 #include "rtcm3_utils.h"
@@ -69,10 +70,7 @@ values, N = 0-6: use 2^(1+N/2) (round to one
 decimal place i.e. 2.8, 5.7 and 11.3) , N=
 7-15:use 2^(N-2), 8192 specifies use at own
 risk) */
-  if (ura >= ARRAY_SIZE(g_bds_ura_table)) {
-    return -1;
-  }
-  float m = g_bds_ura_table[ura];
+  float m = decode_bds_ura_index(ura);
   if (float_equal(INVALID_URA_VALUE, m)) {
     return 8192.0f;
   }

c/gnss_converters/src/rtcm3_sbp_internal.h

@@ -19,6 +19,7 @@
 #include <swiftnav/constants.h>
 #include <swiftnav/gnss_time.h>
 #include <swiftnav/signal.h>
+
 #include "common.h"
 #include "gnss-converters/rtcm3_sbp.h"
 
@@ -152,7 +153,7 @@ void send_sbp_log_message(uint8_t level,
                           uint16_t stn_id,
                           const struct rtcm3_sbp_state *state);
 
-void send_MSM_warning(const swiftnav_bitstream_t *bitstream,
+void send_MSM_warning(const swiftnav_in_bitstream_t *bitstream,
                       struct rtcm3_sbp_state *state);
 
 void send_buffer_full_error(const struct rtcm3_sbp_state *state);

c/gnss_converters/src/rtcm3_sbp_ssr.c

@@ -15,6 +15,7 @@
 #include <math.h>
 #include <rtcm3/msm_utils.h>
 #include <string.h>
+
 #include "rtcm3_sbp_internal.h"
 
 #define SSR_MESSAGE_LENGTH 256

c/gnss_converters/src/rtcm3_utils.c

@@ -24,11 +24,10 @@
 #include "rtcm3_utils.h"
 
 #include <assert.h>
-#include <stdbool.h>
-#include <stdint.h>
-
 #include <rtcm3/constants.h>
 #include <rtcm3/msm_utils.h>
+#include <stdbool.h>
+#include <stdint.h>
 #include <swiftnav/constants.h>
 #include <swiftnav/logging.h>
 #include <swiftnav/signal.h>
@@ -455,7 +454,7 @@ bool msm_signal_frequency(const rtcm_msm_header *header,
         return false;
       }
     case CODE_BDS2_B1:
-      *p_freq = BDS2_B11_HZ;
+      *p_freq = BDS2_B1I_HZ;
       return true;
     case CODE_BDS2_B2:
       *p_freq = BDS2_B2_HZ;

c/gnss_converters/src/rtcm3_utils.h

@@ -13,10 +13,9 @@
 #ifndef GNSS_CONVERTERS_RTCM3_UTILS_H
 #define GNSS_CONVERTERS_RTCM3_UTILS_H
 
+#include <rtcm3/messages.h>
 #include <stdbool.h>
 #include <stdint.h>
-
-#include <rtcm3/messages.h>
 #include <swiftnav/signal.h>
 
 #define GPS_TOE_RESOLUTION 16

c/gnss_converters/src/sbp_nmea.c

@@ -10,13 +10,12 @@
  * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
  */
 
+#include <gnss-converters/nmea.h>
+#include <gnss-converters/sbp_nmea.h>
 #include <math.h>
 #include <stddef.h>
 #include <stdlib.h>
 #include <string.h>
-
-#include <gnss-converters/nmea.h>
-#include <gnss-converters/sbp_nmea.h>
 #include <swiftnav/constants.h>
 #include <swiftnav/gnss_time.h>
 #include <swiftnav/memcpy_s.h>

c/gnss_converters/test/check_options.c

@@ -11,9 +11,8 @@
  */
 
 #include <check.h>
-#include <math.h>
-
 #include <gnss-converters/options.h>
+#include <math.h>
 #include <rtcm3/messages.h>
 #include <rtcm3/msm_utils.h>
 #include <rtcm3_utils.h>

c/gnss_converters_extra/src/sbp_conv.c

@@ -10,17 +10,15 @@
  * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
  */
 
-#include <gnss-converters-extra/sbp_conv.h>
-
 #include <assert.h>
+#include <gnss-converters-extra/sbp_conv.h>
+#include <gnss-converters-extra/sbp_rtcm3.h>
 #include <libsbp/legacy/logging.h>
 #include <libsbp/sbp.h>
 #include <swiftnav/fifo_byte.h>
 #include <swiftnav/gnss_time.h>
 #include <time.h>
 
-#include <gnss-converters-extra/sbp_rtcm3.h>
-
 struct sbp_conv_s {
   struct rtcm3_out_state state;
   fifo_t fifo;
@@ -114,7 +112,9 @@ size_t sbp_conv(sbp_conv_t conv,
       sbp2rtcm_sbp_log_cb(sender, (u8)rlen, rbuf, &conv->state);
       break;
     }
-    default: { break; }
+    default: {
+      break;
+    }
   }
   return fifo_read(&conv->fifo, wbuf, (u32)wlen);
 }

c/gnss_converters_extra/src/sbp_rtcm3.c

@@ -10,20 +10,21 @@
  * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
  */
 
-#include <assert.h>
-#include <math.h>
-#include <stdlib.h>
-#include <string.h>
+#include "gnss-converters-extra/sbp_rtcm3.h"
 
+#include <assert.h>
 #include <libsbp/legacy/gnss.h>
 #include <libsbp/legacy/logging.h>
+#include <math.h>
 #include <rtcm3/bits.h>
 #include <rtcm3/decode.h>
 #include <rtcm3/encode.h>
 #include <rtcm3/eph_decode.h>
 #include <rtcm3/eph_encode.h>
 #include <rtcm3/logging.h>
 #include <rtcm3/ssr_decode.h>
+#include <stdlib.h>
+#include <string.h>
 #include <swiftnav/edc.h>
 #include <swiftnav/ephemeris.h>
 #include <swiftnav/fifo_byte.h>
@@ -34,7 +35,6 @@
 #include <swiftnav/signal.h>
 #include <swiftnav/swift_strnlen.h>
 
-#include "gnss-converters-extra/sbp_rtcm3.h"
 #include "gnss-converters/utils.h"
 #include "rtcm3_utils.h"
 #include "sbp_rtcm3_internal.h"

c/gnss_converters_extra/src/sbp_rtcm3_internal.h

@@ -18,6 +18,7 @@
 #include <swiftnav/constants.h>
 #include <swiftnav/gnss_time.h>
 #include <swiftnav/signal.h>
+
 #include "common.h"
 #include "gnss-converters-extra/sbp_rtcm3.h"
 

c/gnss_converters_extra/test/check_utils.c

@@ -16,15 +16,14 @@
 #include <stdlib.h>
 #include <string.h>
 
+#include "../../gnss_converters_extra/src/sbp_rtcm3_internal.h"
+#include "../src/rtcm3_sbp_internal.h"
+#include "../src/rtcm3_utils.h"
 #include "common.h"
 #include "gnss-converters-extra/sbp_rtcm3.h"
 #include "gnss-converters/rtcm3_sbp.h"
 #include "libsbp/legacy/logging.h"
 
-#include "../../gnss_converters_extra/src/sbp_rtcm3_internal.h"
-#include "../src/rtcm3_sbp_internal.h"
-#include "../src/rtcm3_utils.h"
-
 #define FREQ_TOL 1e-3
 
 static struct rtcm3_sbp_state state;

c/ixcom2sbp/src/ixcom2sbp.c

@@ -11,12 +11,11 @@
  */
 
 #include <getopt.h>
+#include <gnss-converters/ixcom_sbp.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
 
-#include <gnss-converters/ixcom_sbp.h>
-
 sbp_state_t sbp_state;
 
 typedef int (*readfn_ptr)(uint8_t *, size_t, void *);