Open source publish (#34)

Open source publish of
df25faf9f28eb74ace9f9765c451087320b2d8ba..cae2886bb7ef4baa3c44864b5b637ea3d227a25f

Jira: https://swift-nav.atlassian.net/browse/DIP-307

- Install the leap seconds header
- updated leap second
- bazel: add swift_cc* wrappers
- bazel: fix code-coverage
- Remove bazel submodule
- Fetches swift's bazel rules via http_archive instead of using a
submodule
- Add cn0 mask to calc-pvt
- bazel: Require build passes in CI
- Export decode_sisa_index(), decode_bds_ura_index() and
decode_fit_interval() functions: This allows external code to reuse
libswiftnav's functions for decoding URA/SISA index values.
  - Also includes a couple of minor improvements:
- Move definition of GAL_WEEK_TO_GPS_WEEK from ephemeris.h to
gnss_time.h to be consistent with BDS_WEEK_TO_GPS_WEEK
    - Fix test for platforms where time_t is a signed 32-bit integer
- Added Makefile with bazel wrappers
- Fix group delay type for B1C
- bazel: fix optimized compilation
- clean up iono handling and navigation_measurement_t
- bazel add gen_compile_commands target
- bazel: make max_channels a configurable attribute
- bazel: use c only macros to build libswiftnav
- Handle endianess in bytestreams
- Byte swap inline function
- Regenerate leap second
- bazel: Add bazeliskrc file
- Use float whenever possible in satellite attitude and std
- Revert "Use float whenever possible in satellite attitude and std"
- Use float is satellite vel and acc when possible: Changed satellite
acceleration and velocity to float when possible
- Handle BDS B3I in get_tgd_correction()
- Revert "Use float is satellite vel and acc when possible"
- Add support for GPS L1CQ in health check

---

Co-authored-by: Jason Mobarak <jason@swift-nav.com>
Co-authored-by: Ivan Smolyakov <ivan.smolyakov@swift-nav.com>
Co-authored-by: Altti Jokinen <altti.jokinen@swift-nav.com>
Co-authored-by: Marco <marco.mendonca@swift-nav.com>
Co-authored-by: Ivan Smolyakov <ivan.smolyakov@swift-nav.com>
Co-authored-by: Antriksh Srivastava <antriksh.srivastava@swift-nav.com>
Co-authored-by: Joseph Angelo <joseph.angelo@swift-nav.com>
Co-authored-by: Isaac Torres <isaac.torres@swift-nav.com>
Co-authored-by: Lucas Le <97814268+lucasle-sn@users.noreply.github.com>
Co-authored-by: Rodrigo Reichert <rodrigo.reichert@swift-nav.com>
Co-authored-by: Matt Woodward
<46688854+woodfell@users.noreply.github.com>
Co-authored-by: Wiktor Więcław
<110531204+wwieclaw@users.noreply.github.com>
Co-authored-by: Krzysztof Naglik <krzysztofnaglik96@gmail.com>
Co-authored-by: dgburr <dburr@dburr.net>

---------

Co-authored-by: Joseph Angelo <joseph.angelo@swift-nav.com>
Co-authored-by: Ivan Smolyakov <ivan.smolyakov@swift-nav.com>
Co-authored-by: Altti Jokinen <altti.jokinen@swift-nav.com>
Co-authored-by: Marco <marco.mendonca@swift-nav.com>
Co-authored-by: Antriksh Srivastava <antriksh.srivastava@swift-nav.com>
Co-authored-by: Isaac Torres <isaac.torres@swift-nav.com>
Co-authored-by: Lucas Le <97814268+lucasle-sn@users.noreply.github.com>
Co-authored-by: Rodrigo Reichert <rodrigo.reichert@swift-nav.com>
Co-authored-by: Matt Woodward <46688854+woodfell@users.noreply.github.com>
Co-authored-by: Wiktor Więcław <110531204+wwieclaw@users.noreply.github.com>
Co-authored-by: Krzysztof Naglik <krzysztofnaglik96@gmail.com>
Co-authored-by: dgburr <dburr@dburr.net>

Author: 13 people

.bazeliskrc

@@ -0,0 +1 @@
+USE_BAZEL_VERSION=6.2.0

.bazelrc

@@ -0,0 +1,6 @@
+build:clang-format-check --aspects @rules_swiftnav//clang_format:clang_format_check.bzl%clang_format_check_aspect
+build:clang-format-check --@rules_swiftnav//clang_format:clang_format_config=//:clang_format_config
+build:clang-format-check --output_groups=report 
+
+build:clang-tidy --aspects @rules_swiftnav//clang_tidy:clang_tidy.bzl%clang_tidy_aspect
+build:clang-tidy --output_groups=report

BUILD.bazel

@@ -1,25 +1,42 @@
-load("@rules_cc//cc:defs.bzl", "cc_library")
-load(":bazel/configure_file.bzl", "configure_file")
 load("@hedron_compile_commands//:refresh_compile_commands.bzl", "refresh_compile_commands")
+load("@rules_swiftnav//cc:defs.bzl", "UNIT", "swift_c_library", "swift_cc_test", "swift_cc_test_library")
+load("@bazel_skylib//rules:common_settings.bzl", "int_flag", "bool_flag")
+load("//bazel:max_channels_config.bzl", "max_channels_config")
 
 refresh_compile_commands(
-    name = "refresh_compile_commands",
+    name = "gen_compile_commands",
+    visibility = ["//visibility:public"],
 )
 
-configure_file(
+int_flag(
     name = "max_channels",
+    build_setting_default = 63,
+)
+
+bool_flag(
+    name = "enable_stderr_logging",
+    build_setting_default = True,
+    visibility = ["//visibility:public"],
+)
+
+config_setting(
+    name = "_enable_stderr_logging",
+    flag_values = {"enable_stderr_logging": "true"},
+)
+
+max_channels_config(
+    name = "max_channels_h",
     out = "max_channels.h",
+    max_channels = ":max_channels",
     template = "src/max_channels.h.in",
-    vars = {"MAX_CHANNELS": "63"},
 )
 
-cc_library(
+swift_c_library(
     name = "swiftnav",
     srcs = [
         "src/almanac.c",
         "src/bits.c",
         "src/coord_system.c",
-        "src/correct_iono_tropo.c",
         "src/decode_glo.c",
         "src/edc.c",
         "src/ephemeris.c",
@@ -43,7 +60,7 @@ cc_library(
         "src/single_epoch_solver.c",
         "src/subsystem_status_report.c",
         "src/troposphere.c",
-        ":max_channels",
+        ":max_channels_h",
     ],
     hdrs = [
         "include/swiftnav/almanac.h",
@@ -55,7 +72,6 @@ cc_library(
         "include/swiftnav/common.h",
         "include/swiftnav/constants.h",
         "include/swiftnav/coord_system.h",
-        "include/swiftnav/correct_iono_tropo.h",
         "include/swiftnav/decode_glo.h",
         "include/swiftnav/edc.h",
         "include/swiftnav/ephemeris.h",
@@ -85,21 +101,31 @@ cc_library(
         "include/swiftnav/swift_strnlen.h",
         "include/swiftnav/troposphere.h",
     ],
+    copts = ["-UNDEBUG"],
+    local_defines = select({
+        "_enable_stderr_logging": ["LIBSWIFTNAV_ENABLE_STDERR_LOGGING=ON"],
+        "//conditions:default": [],
+    }),
     includes = ["include"],
+    nocopts = [
+        "-Wconversion",
+        "-Wstack-protector",
+    ],
     textual_hdrs = [
         "src/signal.c",
         "src/geoid_model.c",
     ],
+    visibility = ["//visibility:public"],
 )
 
-cc_library(
+swift_cc_test_library(
     name = "check-utils",
     srcs = ["tests/common/check_utils.c"],
     hdrs = ["tests/common/check_utils.h"],
     deps = ["//:swiftnav"],
 )
 
-cc_test(
+swift_cc_test(
     name = "swiftnav-test",
     srcs = [
         "tests/check_almanac.c",
@@ -126,9 +152,16 @@ cc_test(
         "tests/check_suites.h",
         "tests/check_troposphere.c",
     ],
+    type = UNIT,
     deps = [
         "//:check-utils",
         "//:swiftnav",
-        "@my-check//:check",
+        "@check",
     ],
 )
+
+filegroup(
+    name = "clang_format_config",
+    srcs = [".clang-format"],
+    visibility = ["//visibility:public"],
+)

CMakeLists.txt

@@ -49,7 +49,6 @@ set(HDRS
     include/swiftnav/common.h
     include/swiftnav/constants.h
     include/swiftnav/coord_system.h
-    include/swiftnav/correct_iono_tropo.h
     include/swiftnav/decode_glo.h
     include/swiftnav/edc.h
     include/swiftnav/ephemeris.h
@@ -82,7 +81,6 @@ set(SRCS
     src/almanac.c
     src/bits.c
     src/coord_system.c
-    src/correct_iono_tropo.c
     src/decode_glo.c
     src/edc.c
     src/ephemeris.c

Jenkinsfile

@@ -54,31 +54,25 @@ pipeline {
                 stage('Bazel Build') {
                     agent {
                         docker {
-                            image '571934480752.dkr.ecr.us-west-2.amazonaws.com/swift-build-bazel:2022-09-09'
+                            image '571934480752.dkr.ecr.us-west-2.amazonaws.com/swift-build-bazel:2023-06-21'
                         }
                     }
                     steps {
                         gitPrep()
                         script {
-                            try {
-                                sh('''#!/bin/bash -ex
-                                    | CC=gcc-8 CXX=g++-8 bazel build --subcommands //...
-                                    | bazel run //:refresh_compile_commands
-                                    | bazel run //:swiftnav-test
-                                    |'''.stripMargin())
-                            } catch(e) {
-                                // Notify bazel-alerts when master fails
-                                if (context.isBranchPush(branches: ["master"])) {
-                                    slackSend(
-                                        channel: "#bazel-alerts",
-                                        color: 'danger',
-                                        message: 'FAILURE'
-                                            + " on master "
-                                            + ": <${env.RUN_DISPLAY_URL}|${env.JOB_NAME} #${env.BUILD_NUMBER}>"
-                                            + " - "
-                                            + currentBuild.durationString.replace(' and counting', ''))
-                                }
-                            }
+                            sh('''#!/bin/bash -ex
+                                | CC=gcc-8 CXX=g++-8 bazel build --subcommands //...
+                                | bazel run //:gen_compile_commands
+                                | bazel run //:swiftnav-test
+                                | bazel coverage --collect_code_coverage --combined_report=lcov //...
+                                | genhtml bazel-out/_coverage/_coverage_report.dat -o coverage
+                                | tar -zcvf coverage.tar.gz coverage/
+                                |'''.stripMargin())
+                        }
+                    }
+                    post {
+                        always {
+                            archiveArtifacts(artifacts: 'coverage.tar.gz', allowEmptyArchive: true)
                         }
                     }
                 }

Makefile

@@ -11,3 +11,27 @@ docker-build: docker-image
 docker-lint: docker-image
 	mkdir -p build
 	docker-compose run -T libswiftnav /bin/bash -c "cd build && cmake .. && make -j4 clang-format-all"
+
+do-all-unit-tests:
+	bazel test --test_tag_filters=unit --test_output=all //...
+
+do-all-integration-tests:
+	bazel test --test_tag_filters=integration --test_output=all //...
+
+clang-format-all-check:
+	bazel build //... --config=clang-format-check
+
+clang-format-all:
+	bazel run @rules_swiftnav//clang_format
+
+clang-tidy-all-check:
+	bazel build //... --config=clang-tidy
+
+do-code-coverage:
+	bazel coverage --test_tag_filters=unit --collect_code_coverage --combined_report=lcov //...
+
+do-generate-coverage-report: do-code-coverage
+	genhtml bazel-out/_coverage/_coverage_report.dat -o coverage
+
+gen-compile-commands:
+	bazel run //:gen_compile_commands

WORKSPACE renamed to WORKSPACE.bazel

@@ -1,13 +1,13 @@
-workspace(name = "root")
-
-new_local_repository(
-    name = "my-check",
-    build_file = "bazel/check.BUILD",
-    path = "third_party/check",
-)
+workspace(name = "libswiftnav")
 
 load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 
+http_archive(
+    name = "rules_swiftnav",
+    strip_prefix = "rules_swiftnav-26426be6b89a5b9f0489158098599b9fcd973ed4",
+    url = "https://github.com/swift-nav/rules_swiftnav/archive/26426be6b89a5b9f0489158098599b9fcd973ed4.tar.gz",
+)
+
 http_archive(
     name = "rules_foreign_cc",
     strip_prefix = "rules_foreign_cc-c65e8cfbaa002bcd1ce9c26e9fec63b0b866c94b",
@@ -30,3 +30,9 @@ http_archive(
 load("@hedron_compile_commands//:workspace_setup.bzl", "hedron_compile_commands_setup")
 
 hedron_compile_commands_setup()
+
+new_local_repository(
+    name = "check",
+    build_file = "@rules_swiftnav//third_party:check.BUILD",
+    path = "third_party/check",
+)