rustfmt

rustfmt.toml

@@ -0,0 +1,8 @@
+max_width = 100
+wrap_comments = true
+comment_width = 100
+format_strings = true
+edition = "2024"
+imports_granularity = "Crate"
+group_imports = "StdExternalCrate"
+style_edition = "2024"

swiftnav/Cargo.toml

@@ -12,14 +12,14 @@ rust-version = "1.85.0"
 [dependencies]
 bon = "3.8.1"
 rustversion = "1.0.22"
-chrono = { version = "0.4.42", optional = true }
+chrono = { version = "0.4.42" }
 strum = { version = "0.27.2", features = ["derive"] }
 nalgebra = "0.34.1"
 thiserror = "2.0.17"
 
 [dev-dependencies]
 float_eq = "1.0.1"
-proptest = "1.8.0"
+proptest = "1.9.0"
 
 # This tells docs.rs to include the katex header for math formatting
 # To do this locally 

swiftnav/src/coords/ecef.rs

@@ -1,6 +1,7 @@
-use nalgebra::Vector3;
 use std::ops::{Add, AddAssign, Mul, MulAssign, Sub, SubAssign};
 
+use nalgebra::Vector3;
+
 use crate::{
     coords::{AzimuthElevation, Ellipsoid, LLHDegrees, LLHRadians, NED, WGS84},
     math,

swiftnav/src/coords/llh.rs

@@ -1,11 +1,12 @@
-use crate::coords::{LatitudinalHemisphere, LongitudinalHemisphere};
-
-use super::{Ellipsoid, ECEF, WGS84};
 use nalgebra::Vector3;
 
+use super::{ECEF, Ellipsoid, WGS84};
+use crate::coords::{LatitudinalHemisphere, LongitudinalHemisphere};
+
 /// WGS84 geodetic coordinates (Latitude, Longitude, Height), with angles in degrees.
 ///
-/// Internally stored as an array of 3 [f64](std::f64) values: latitude, longitude, and height above the ellipsoid in meters
+/// Internally stored as an array of 3 [f64](std::f64) values: latitude, longitude, and height above
+/// the ellipsoid in meters
 #[derive(Copy, Clone, Debug, PartialEq, PartialOrd, Default)]
 pub struct LLHDegrees(Vector3<f64>);
 
@@ -157,7 +158,8 @@ impl AsMut<Vector3<f64>> for LLHDegrees {
 
 /// WGS84 geodetic coordinates (Latitude, Longitude, Height), with angles in radians.
 ///
-/// Internally stored as an array of 3 [f64](std::f64) values: latitude, longitude, and height above the ellipsoid in meters
+/// Internally stored as an array of 3 [f64](std::f64) values: latitude, longitude, and height above
+/// the ellipsoid in meters
 #[derive(Copy, Clone, Debug, PartialEq, PartialOrd, Default)]
 pub struct LLHRadians(Vector3<f64>);
 

swiftnav/src/coords/mod.rs

@@ -44,11 +44,10 @@
 //! the more common algortihms based on the Newton-Raphson method.
 //!
 //! ## References
-//! * "A comparison of methods used in rectangular to Geodetic Coordinates
-//!   Transformations", Burtch R. R. (2006), American Congress for Surveying
-//!   and Mapping Annual Conference. Orlando, Florida.
-//! * "Transformation from Cartesian to Geodetic Coordinates Accelerated by
-//!   Halley’s Method", T. Fukushima (2006), Journal of Geodesy.
+//! * "A comparison of methods used in rectangular to Geodetic Coordinates Transformations", Burtch
+//!   R. R. (2006), American Congress for Surveying and Mapping Annual Conference. Orlando, Florida.
+//! * "Transformation from Cartesian to Geodetic Coordinates Accelerated by Halley’s Method", T.
+//!   Fukushima (2006), Journal of Geodesy.
 //!
 //! # Examples
 //!
@@ -84,16 +83,19 @@ pub use ecef::*;
 pub use ellipsoid::*;
 pub use hemisphere::*;
 pub use llh::*;
+use nalgebra::Vector2;
 pub use ned::*;
 
 use crate::{reference_frame::ReferenceFrame, time::GpsTime};
-use nalgebra::Vector2;
 
-/// WGS84 local horizontal coordinates consisting of an Azimuth and Elevation, with angles stored as radians
+/// WGS84 local horizontal coordinates consisting of an Azimuth and Elevation, with angles stored as
+/// radians
 ///
-/// Azimuth can range from $0$ to $2\pi$. North has an azimuth of $0$, east has an azimuth of $\frac{\pi}{2}$
+/// Azimuth can range from $0$ to $2\pi$. North has an azimuth of $0$, east has an azimuth of
+/// $\frac{\pi}{2}$
 ///
-/// Elevation can range from $-\frac{\pi}{2}$ to $\frac{\pi}{2}$. Up has an elevation of $\frac{\pi}{2}$, down an elevation of $-\frac{\pi}{2}$
+/// Elevation can range from $-\frac{\pi}{2}$ to $\frac{\pi}{2}$. Up has an elevation of
+/// $\frac{\pi}{2}$, down an elevation of $-\frac{\pi}{2}$
 #[derive(Copy, Clone, Debug, PartialEq, PartialOrd, Default)]
 pub struct AzimuthElevation(Vector2<f64>);
 
@@ -292,11 +294,10 @@ impl Coordinate {
 #[cfg(test)]
 mod tests {
     use float_eq::assert_float_eq;
-
-    use crate::time::UtcTime;
+    use proptest::prelude::*;
 
     use super::*;
-    use proptest::prelude::*;
+    use crate::time::UtcTime;
 
     /* Maximum allowable error in quantities with units of length (in meters). */
     const MAX_DIST_ERROR_M: f64 = 1e-6;

swiftnav/src/edc.rs

@@ -326,9 +326,10 @@ pub fn compute_crc24q(buf: &[u8], initial_value: u32) -> u32 {
 
 #[cfg(test)]
 mod tests {
-    use super::*;
     use proptest::prelude::*;
 
+    use super::*;
+
     const TEST_DATA: &[u8] = "123456789".as_bytes();
 
     /// Helper function to append a CRC-24Q value as 3 bytes (big-endian) to a buffer

swiftnav/src/math.rs

@@ -10,11 +10,7 @@
 
 /// We define a `const` max function since [`std::cmp::max`] isn't `const`
 pub(crate) const fn compile_time_max_u16(a: u16, b: u16) -> u16 {
-    if b < a {
-        a
-    } else {
-        b
-    }
+    if b < a { a } else { b }
 }
 
 /// Computes the square root of a given number at compile time using the Newton-Raphson method.
@@ -35,7 +31,8 @@ pub(crate) const fn compile_time_max_u16(a: u16, b: u16) -> u16 {
 /// # Notes
 ///
 /// - This function is marked as `const`, allowing it to be evaluated at compile time.
-/// - The algorithm iteratively refines the approximation of the square root until the result stabilizes.
+/// - The algorithm iteratively refines the approximation of the square root until the result
+///   stabilizes.
 #[expect(clippy::many_single_char_names, reason = "It's math, whatyagonnado?")]
 pub(crate) const fn compile_time_sqrt(s: f64) -> f64 {
     assert!(
@@ -57,7 +54,8 @@ pub(crate) const fn compile_time_sqrt(s: f64) -> f64 {
     x
 }
 
-/// Calculate the rotation matrix for rotating between an [`crate::coords::ECEF`] and [`crate::coords::NED`] frames
+/// Calculate the rotation matrix for rotating between an [`crate::coords::ECEF`] and
+/// [`crate::coords::NED`] frames
 #[must_use]
 pub(crate) fn ecef2ned_matrix(llh: crate::coords::LLHRadians) -> nalgebra::Matrix3<f64> {
     let sin_lat = llh.latitude().sin();
@@ -80,10 +78,11 @@ pub(crate) fn ecef2ned_matrix(llh: crate::coords::LLHRadians) -> nalgebra::Matri
 
 #[cfg(test)]
 mod tests {
-    use super::*;
     use float_eq::assert_float_eq;
     use proptest::prelude::*;
 
+    use super::*;
+
     proptest! {
         #![proptest_config(ProptestConfig::with_cases(1000))]
 

swiftnav/src/nmea/checksum.rs

@@ -25,7 +25,8 @@ fn u8_to_ascii_char(nibble: u8) -> char {
 pub fn calculate_checksum(sentence: &str) -> String {
     let mut checksum = 0;
 
-    // this flag indicates if we have reached the '*' character or anything beyond that such as the actual checksum value or the end sequence (<CR><LF>)
+    // this flag indicates if we have reached the '*' character or anything beyond that such as the
+    // actual checksum value or the end sequence (<CR><LF>)
     let mut at_or_past_checksum_field = false;
 
     for (i, byte) in sentence.bytes().enumerate() {

swiftnav/src/nmea/gga.rs

@@ -99,10 +99,13 @@ impl GGA {
 
         let hdop = self.hdop.map_or(String::new(), |hdop| format!("{hdop:.1}"));
 
-        // NOTE(ted): This is actually not the right value to use, however, we don't really use height for finding information like nearest station so it's ok to use for now
+        // NOTE(ted): This is actually not the right value to use, however, we don't really use
+        // height for finding information like nearest station so it's ok to use for now
         let height = "0.0";
 
-        let age_dgps = self.age_dgps.map_or(0.0, |age| age.as_secs_f64());
+        let age_dgps = self
+            .age_dgps
+            .map_or(String::new(), |age| format!("{:.1}", age.as_secs_f64()));
 
         let geoidal_separation = self
             .geoidal_separation
@@ -113,7 +116,9 @@ impl GGA {
             .map_or(String::new(), |id| id.to_string());
 
         let sentence = format!(
-            "GPGGA,{timestamp},{latitude:.6},{latitudinal_hemisphere},{longitude:.6},{longitudinal_hemisphere},{gps_quality},{sat_in_use},{hdop},{height:.6},M,{geoidal_separation},{age_dgps:.1},{reference_station_id}",
+            "GPGGA,{timestamp},{latitude:.6},{latitudinal_hemisphere},{longitude:.6},\
+             {longitudinal_hemisphere},{gps_quality},{sat_in_use},{hdop},{height:.6},M,\
+             {geoidal_separation},{age_dgps:.1},{reference_station_id}",
         );
 
         let checksum = nmea::calculate_checksum(&sentence);
@@ -133,6 +138,7 @@ mod test {
         let gga = GGA::builder()
             .sat_in_use(12)
             .time(DateTime::from_timestamp(1_761_351_489, 0).unwrap())
+            .gps_quality(GPSQuality::GPS)
             .hdop(0.9)
             .llh(super::LLHDegrees::new(37.7749, -122.4194, 10.0))
             .build();
@@ -166,30 +172,10 @@ mod test {
         );
     }
 
-    #[test]
-    fn gga_with_dgps_fields_that_is_not_dgps_is_ignored() {
-        let gga = GGA::builder()
-            .sat_in_use(8)
-            .time(DateTime::from_timestamp(1_761_351_489, 0).unwrap())
-            .hdop(1.2)
-            .llh(super::LLHDegrees::new(34.0522, -118.2437, 15.0))
-            .gps_quality(GPSQuality::GPS)
-            .age_dgps(Duration::from_secs_f64(2.5))
-            .geoidal_separation(1.0)
-            .reference_station_id(42)
-            .build();
-
-        let sentence = gga.to_sentence();
-
-        assert_eq!(
-            sentence,
-            "$GPGGA,0189.00,34.052200,N,-118.243700,W,1,8,1.2,0.0,M,1.00,,*00\r\n"
-        );
-    }
-
     #[test]
     fn gga_sentence_is_always_less_than_82_characters() {
-        // we are going to set some very large decimal places and the highest possible values in terms of character count to ensure our sentence is always below 82 characters
+        // we are going to set some very large decimal places and the highest possible values in
+        // terms of character count to ensure our sentence is always below 82 characters
         let gga = GGA::builder()
             .sat_in_use(12)
             .time(DateTime::from_timestamp(1_761_351_489, 0).unwrap())

swiftnav/src/nmea/source.rs

@@ -9,7 +9,8 @@ pub enum Source {
     Gallileo = 0b100,
     /// China's Beidou
     Beidou = 0b1000,
-    /// Global Navigation Sattelite System. Some combination of other systems. Depends on receiver model, receiver settings, etc..
+    /// Global Navigation Sattelite System. Some combination of other systems. Depends on receiver
+    /// model, receiver settings, etc..
     GNSS = 0b10000,
     /// `MediaTek` NMEA packet protocol
     MTK = 0b10_0000,

swiftnav/src/reference_frame/mod.rs

@@ -9,9 +9,9 @@
 // WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
 //! Geodetic reference frame transformations
 //!
-//! Transform coordinates between geodetic reference frames using time-dependent Helmert transformations.
-//! Supports both global frames (ITRF series) and regional frames (ETRF, NAD83, etc.) with runtime
-//! parameter loading.
+//! Transform coordinates between geodetic reference frames using time-dependent Helmert
+//! transformations. Supports both global frames (ITRF series) and regional frames (ETRF, NAD83,
+//! etc.) with runtime parameter loading.
 //!
 //! # Key Concepts
 //!
@@ -68,14 +68,16 @@
 //! repo.add_transformation(custom_transform);
 //! ```
 
-use crate::coords::{Coordinate, ECEF};
-use nalgebra::{Matrix3, Vector3};
 use std::{
     collections::{HashMap, HashSet, VecDeque},
     fmt,
 };
+
+use nalgebra::{Matrix3, Vector3};
 use strum::{Display, EnumIter, EnumString};
 
+use crate::coords::{Coordinate, ECEF};
+
 mod params;
 
 /// Geodetic reference frame identifiers
@@ -195,10 +197,10 @@ impl PartialEq<ReferenceFrame> for &ReferenceFrame {
 /// # Parameter Units
 ///
 /// Input parameters are stored in standard geodetic units:
-/// - **Translation** (`tx`, `ty`, `tz`): millimeters (mm)  
+/// - **Translation** (`tx`, `ty`, `tz`): millimeters (mm)
 /// - **Translation rates** (`tx_dot`, `ty_dot`, `tz_dot`): mm/year
 /// - **Scale** (`s`): parts per billion (ppb)
-/// - **Scale rate** (`s_dot`): ppb/year  
+/// - **Scale rate** (`s_dot`): ppb/year
 /// - **Rotation** (`rx`, `ry`, `rz`): milliarcseconds (mas)
 /// - **Rotation rates** (`rx_dot`, `ry_dot`, `rz_dot`): mas/year
 /// - **Reference epoch** (`epoch`): decimal years
@@ -258,7 +260,8 @@ impl TimeDependentHelmertParams {
         }
     }
 
-    /// Reverses the transformation. Since this is a linear transformation we simply negate all terms
+    /// Reverses the transformation. Since this is a linear transformation we simply negate all
+    /// terms
     #[must_use]
     pub fn invert(mut self) -> Self {
         self.t *= -1.0;
@@ -574,10 +577,12 @@ fn builtin_transformations() -> Vec<Transformation> {
 
 #[cfg(test)]
 mod tests {
-    use super::*;
+    use std::str::FromStr;
+
     use float_eq::assert_float_eq;
     use params::TRANSFORMATIONS;
-    use std::str::FromStr;
+
+    use super::*;
 
     #[expect(clippy::too_many_lines)]
     #[test]

swiftnav/src/signal/code.rs

@@ -8,7 +8,7 @@
 // EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
 // WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
 
-use super::{consts, Constellation};
+use super::{Constellation, consts};
 
 /// Code identifiers
 #[derive(

swiftnav/src/signal/mod.rs

@@ -16,7 +16,8 @@
 //! This module provides:
 //! - [`Constellation`] - Representing the supporting GNSS constellations
 //! - [`Code`] - Representing the codes broadcast from the GNSS satellites
-//! - [`GnssSignal`] - Represents a [`Code`] broadcast by a specific satellite, using the satellite PRN as the identifier
+//! - [`GnssSignal`] - Represents a [`Code`] broadcast by a specific satellite, using the satellite
+//!   PRN as the identifier
 //!
 //! # Examples
 //!
@@ -37,9 +38,10 @@ mod code;
 mod constellation;
 pub mod consts;
 
+use std::fmt;
+
 pub use code::*;
 pub use constellation::*;
-use std::fmt;
 
 /// GNSS Signal identifier
 #[derive(Debug, Copy, Clone, Ord, PartialOrd, Eq, PartialEq, Hash)]

swiftnav/src/time/gnss.rs

@@ -7,12 +7,13 @@
 // THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
 // EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
 // WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
-use crate::time::{consts, UtcParams, UtcTime, MJD, UTC_LEAPS, WEEK};
 use std::{
     ops::{Add, AddAssign, Sub, SubAssign},
     time::Duration,
 };
 
+use crate::time::{MJD, UTC_LEAPS, UtcParams, UtcTime, WEEK, consts};
+
 /// Representation of GPS Time
 #[derive(Debug, Copy, Clone)]
 pub struct GpsTime {
@@ -189,7 +190,7 @@ impl GpsTime {
             assert!(utc_time.hour() == 23);
             assert!(utc_time.minute() == 59);
             assert!(utc_time.seconds_int() == 59);
-            /* add the extra second back in*/
+            /* add the extra second back in */
             utc_time.add_second();
         }