Initial release

.clang-format

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+---
+Language:        Cpp
+BasedOnStyle:  Google
+AccessModifierOffset: -1
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Left
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: true
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: true
+BinPackArguments: true
+BinPackParameters: true
+BreakBeforeBraces: Custom
+BraceWrapping:
+  AfterClass:      true
+  AfterControlStatement: true
+  AfterEnum:       true
+  AfterFunction:   true
+  AfterNamespace:  true
+  AfterObjCDeclaration: true
+  AfterStruct:     true
+  AfterUnion:      true
+  AfterExternBlock: true
+  BeforeCatch:     true
+  BeforeElse:      true
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     80
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: true
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks:   Preserve
+IncludeCategories:
+  - Regex:           '^<ext/.*\.h>'
+    Priority:        2
+  - Regex:           '^<.*\.h>'
+    Priority:        1
+  - Regex:           '^<.*'
+    Priority:        2
+  - Regex:           '.*'
+    Priority:        3
+IncludeIsMainRegex: '([-_](test|unittest))?$'
+IndentCaseLabels: true
+IndentPPDirectives: None
+IndentWidth:     2
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: false
+PenaltyBreakAssignment: 2
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+PenaltyBreakString: 1000
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+RawStringFormats:
+  - Delimiters:
+      - pb
+    Language:        TextProto
+    BasedOnStyle:    google
+ReflowComments:  true
+SortIncludes:    true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
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+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard:        Auto
+TabWidth:        2
+UseTab:          Never
+...

.clang-tidy

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+# See: http://clang.llvm.org/extra/clang-tidy/
+#  clang-tidy-4.0 src/pvt_engine/*.cc -- -std=c++14 -Irefactor/common/ -Irefactor/common/libswiftnav -Iinclude/ -Iinclude/libswiftnav/ -isystem -third_party/ -isystem./libfec/include/ -Ithird_party/Optional -isystem./third_party/json/src/ -isystem./third_party/eigen/
+#
+
+Checks: "-*,cert-*,google-*,misc-*,readability-*,clang-analyzer-*,modernize-*,performance-*,-clang-analyzer-alpha*,cppcoreguidelines-*,cert-*,-cppcoreguidelines-pro-bounds-constant-array-index,-cppcoreguidelines-pro-bounds-array-to-pointer-decay,-cppcoreguidelines-pro-bounds-pointer-arithmetic,-cppcoreguidelines-pro-type-vararg,-modernize-pass-by-value,-modernize-deprecated-headers,-modernize-use-default-member-init,-modernize-redundant-void-arg,-modernize-use-using,-modernize-use-equals-delete,-modernize-use-equals-default,-modernize-use-bool-literals,-modernize-use-auto,-modernize-use-emplace,-cppcoreguidelines-special-member-functions,-cppcoreguidelines-pro-type-member-init,-readability-avoid-const-params-in-decls,-readability-non-const-parameter,-readability-redundant-member-init,-readability-redundant-declaration,-cert-err34-c,-cert-err58-cpp,-performance-unnecessary-value-param,-google-runtime-references,-clang-analyzer-optin.cplusplus.VirtualCall,-clang-analyzer-core.CallAndMessage,-clang-analyzer-core.UndefinedBinaryOperatorResult,-clang-analyzer-core.uninitialized.Assign,-cppcoreguidelines-owning-memory,-clang-analyzer-core.uninitialized.UndefReturn,-cert-dcl21-cpp,-modernize-return-braced-init-list,-cert-dcl03-c,-misc-static-assert,-cppcoreguidelines-pro-type-static-cast-downcast,-clang-analyzer-optin.performance.Padding,-cppcoreguidelines-pro-type-union-access"
+HeaderFilterRegex: '.*'
+AnalyzeTemporaryDtors: true
+...

.github/workflows/build.yml

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+name: Build
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    types: [opened, synchronize, reopened]
+env:
+  SONAR_SCANNER_VERSION: 4.7.0.2747
+  GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+  SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
+  PARALLEL_THREADS: 2
+jobs:
+  build-master:
+    name: Build master
+    runs-on: ubuntu-latest
+    if: github.ref == 'refs/heads/master'
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          fetch-depth: 0  # Shallow clones should be disabled for a better relevancy of analysis
+      - name: Code coverage
+        run: |
+          docker build -t swiftnav-ros2 --build-arg UID=$UID --build-arg SONAR_SCANNER_VERSION=$SONAR_SCANNER_VERSION - < Dockerfile
+          docker run --rm -v $PWD:/mnt/workspace/src/swiftnav-ros2 swiftnav-ros2:latest /bin/bash ./code_coverage.sh $GITHUB_TOKEN \
+                                                                                                                     $SONAR_TOKEN \
+                                                                                                                     $PARALLEL_THREADS
+  build-pr:
+    name: Build pull request
+    runs-on: ubuntu-latest
+    if: github.ref != 'refs/heads/master'
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          fetch-depth: 0  # Shallow clones should be disabled for a better relevancy of analysis
+      - name: Code coverage
+        env:
+          PR_BRANCH_NAME: ${{ github.head_ref }}
+        run: |
+          PR_NUMBER=$(jq --raw-output .pull_request.number "$GITHUB_EVENT_PATH")
+          docker build -t swiftnav-ros2 --build-arg UID=$UID --build-arg SONAR_SCANNER_VERSION=$SONAR_SCANNER_VERSION - < Dockerfile
+          docker run --rm -v $PWD:/mnt/workspace/src/swiftnav-ros2 swiftnav-ros2:latest /bin/bash ./code_coverage.sh $GITHUB_TOKEN \
+                                                                                                                     $SONAR_TOKEN \
+                                                                                                                     $PARALLEL_THREADS \
+                                                                                                                     $PR_BRANCH_NAME \
+                                                                                                                     $PR_NUMBER

.github/workflows/sonar-project.properties

@@ -0,0 +1,12 @@
+sonar.projectKey=swift-nav_swiftnav-ros2
+sonar.organization=swift-nav
+
+# This is the name and version displayed in the SonarCloud UI.
+sonar.projectName=swiftnav-ros2
+sonar.projectVersion=1.0
+
+# Path is relative to the sonar-project.properties file. Replace "\" by "/" on Windows.
+sonar.sources=src
+
+# Encoding of the source code. Default is default system encoding
+sonar.sourceEncoding=UTF-8

.gitignore

@@ -0,0 +1,41 @@
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+# Code coverage
+*.gcov
+
+# Folders
+build/
+install/
+log/
+.vscode/

CHANGELOG.rst

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+CHANGE LOG
+=========
+
+Version 1.0.0 (2023-04-04)
+-------------
+
+Changes
+
+- Initial release.
+
+Known Issues
+
+- SBP recording saves all SBP messages with sender ID equal zero.
+- Driver builds on ROS 2 Foxy with compilation warnings.