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Improve features definition (#394)
* improve features definition * update gnsslib * build serde feature * cleanup * remove wkt * remove unused dependencies * improve features definition * update main table * update deps * update gitignore * updated GNSS constellation formating * removed one panic, replaced by FormatingError * adds more RINEX / CRINEX header formating tests * improved RINEX/CRINEX versioning API --------- Signed-off-by: Guillaume W. Bres <[email protected]>
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‎.github/workflows/daily.yml‎

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command: build
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args: --all-features
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- uses: actions-rs/cargo@v1
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name: Build (SERDES)
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with:
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command: build
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args: --features serde
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- uses: actions-rs/cargo@v1
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name: Build (Observation)
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with:

‎.github/workflows/rust.yml‎

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command: build
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args: --all-features
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- uses: actions-rs/cargo@v1
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name: Build (SERDES)
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with:
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command: build
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args: --features serde
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- uses: actions-rs/cargo@v1
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name: Build (Observation)
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with:

‎.gitignore‎

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@@ -17,6 +17,7 @@ Cargo.lock
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.DS_Store
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*.rnx
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*.crx
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*.rs~
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rinex/merge.rnx
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rinex/test.crx

‎Cargo.toml‎

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@@ -21,36 +21,28 @@ msrv = "1.83"
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all-features = true
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rustdoc-args = ["--cfg", "docrs", "--generate-link-to-definition"]
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#####################################################################
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# To understand the lib features, please read the following comments.
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#
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# Other features that exist:
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# - log: unlocks debug traces
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# - serde: internal structures serdes
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#####################################################################
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################################################################
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# Note for devs:
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#
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# [Dependencies] see if we can get rid of
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# - geo: either replaced by Orbit, and 3D does not exist anyway
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# - wkt:
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# - strum/macros
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# - regex
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# - num/num-integer (.div_ceil)
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################################################################
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[features]
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default = ["flate2"] # gzip files supported by default
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# serde by default
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# gzip files are supported by default
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default = ["flate2", "serde"]
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# unlock objects serialization
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serde = [
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"dep:serde",
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"gnss-rs/serde",
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"hifitime/serde",
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"bitflags/serde",
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"ublox/serde",
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]
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# OBSERVATION RINEX Iterators & methods. Unlocks signal combinations.
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obs = []
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# NAVIGATION RINEX (decoded radio messages) Iterators & methods.
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# Unlocks navigation calculations including Kepler solver and Ut1Provider.
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nav = [
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"nalgebra",
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"anise",
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"nalgebra",
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]
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# Provides the special UT1-TAI methods
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# Unlock Quality Check and TEQC like methods & traits.
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qc = [
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"dep:gnss-qc-traits",
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"dep:maud",
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"dep:gnss-qc-traits",
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]
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# Unlocks the Filter designer, pre and post processing algorithms.
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"rtcm",
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"ut1",
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"ublox",
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"serde",
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]
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[build-dependencies]
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serde_json = { version = "1.0", features = ["preserve_order"] }
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serde = { version = "1.0", default-features = false, features = ["derive"] }
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[dependencies.gnss-rs]
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git = "https://github.com/nav-solutions/gnss"
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rev = "dc4d4c2d413a3be90a3fa08a6ab29079eec13923"
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features = ["std", "domes", "cospar", "sbas"]
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[dependencies.gnss-qc-traits]
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git = "https://github.com/nav-solutions/qc-traits"
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rev = "63200d41bab2efa7d10082ae43a113d360722342"
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optional = true
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features = ["html"]
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[dependencies.binex]
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version = "0.5"
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optional = true
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[dependencies.gnss-protos]
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version = "0.0.2"
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optional = true
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features = ["gps"]
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[dependencies.ublox]
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git = "https://github.com/ublox-rs/ublox"
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rev = "d43c425ee2904d577d06e70d7fbd80d98132a8a6"
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optional = true
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features = ["std", "sfrbx-gps"]
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[dependencies.hifitime]
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version = "4.1"
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features = ["std"]
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[dependencies.anise]
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version = "0.6.9"
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optional = true
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[dependencies]
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num = "0.4"
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regex = "1"
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strum = "0.26"
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thiserror = "2"
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lazy_static = "1.4"
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num-derive = "0.4"
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itertools = "0.14.0"
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# dms-coordinates = "1.3.1"
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# geo = { version = "0.28", optional = true }
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bitflags = "2"
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lazy_static = "1"
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itertools = "0.14"
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flate2 = { version = "1", optional = true }
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maud = { version = "0.26", optional = true }
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nalgebra = { version = "0.33.0", optional = true }
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bitflags = { version = "2.3", features = ["serde"] }
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anise = { version = "0.6.9", optional = true }
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hifitime = { version = "4.1", features = ["serde", "std"] }
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wkt = { version = "0.14", default-features = false, optional = true }
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gnss-rs = { version = "2.5", features = ["serde", "domes", "cospar"] }
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gnss-qc-traits = { version = "0.4", features = ["html"], optional = true }
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rtcm-rs = { version = "0.11", optional = true }
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serde = { version = "1.0", optional = true, default-features = false, features = ["derive"] }
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nalgebra = { version = "0.33", optional = true }
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# Log is optional and our "debug" feature: use this if you're a dev.
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# Turn this on to obtain debug traces during parsing, formatting and calculations
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# Use DEBUG sensitivy for all traces.
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# Use normal sensitivy for error / warning traces.
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log = { version = "0.4", optional = true }
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# BINEX
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binex = { version = "0.5", optional = true }
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# RTCM
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rtcm-rs = { version = "0.11", optional = true }
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# RINEX to GNSS protos
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gnss-protos = { version = "0.0.2", optional = true, features = ["gps"] }
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# U-Blox
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# ublox = { version = "0.6", optional = true, features = ["std", "sfrbx-gps"] }
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ublox = { git = "https://github.com/ublox-rs/ublox", rev = "d43c425ee2904d577d06e70d7fbd80d98132a8a6", optional = true, features = ["std", "sfrbx-gps"] }
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# TODO: see if we can get rid of FromPrimitive ?
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# TODO see if we can get rid of those
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num = "0.4"
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num-derive = "0.4"
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num-traits = "0.2.15"
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# TODO: see if we can get rid of num.div_ceil() ?
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num-integer = "0.1.44"
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[dev-dependencies]
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flate2 = "1"
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rand = "0.8.4"
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rand = "0.9"
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serde_json = "1"
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criterion = "0.7"
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env_logger = "0.11"
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ublox = { git = "https://github.com/ublox-rs/ublox", rev = "d43c425ee2904d577d06e70d7fbd80d98132a8a6", features = ["std", "sfrbx-gps"] }
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[[bench]]
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name = "parsing"

‎README.md‎

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## Advantages :rocket:
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- Fast
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- Fast and powerful parser
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- Open sources: read and access all the code
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- Seamless Gzip decompression (on `flate2` feature)
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- All modern GNSS constellations, codes and signals
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- GPS, Galileo, BeiDou and QZSS
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- Time scales: GPST, QZSST, BDT, GST, UTC, TAI
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`Nav-solutions (2025), RINEX: analysis and processing (MPLv2), https://github.com/nav-solutions`
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## Library features
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All RINEX formats [described in the following table](#RINEX_formats_&_applications) are supported natively, we do not
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hide a specific format under compilation options. The parser is smart enough to adapt to the file
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revision, you don't need specific options to work with RINEX V2 or RINEX V4, and you may work with both at the same
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time conveniently.
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We offer one compilation option
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per format, to provide more detail and "enhance" the capabilities for that format.
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For example:
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- `obs` relates to the Observation RINEX format and provides
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special iterators and processing feature for this file format.
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- `nav`: is the heaviest amongst all options, because it relies on heavy external libraries like `nalgebra`
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and `anise`.
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Note that this library requires std library at all times, it is not planed to make it no-std compatible.
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We offer many serialization (and deserialization) options:
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- `serde` for standard serdes, usually to JSON
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- `ublox`: to serialize RINEX structures to UBX messages
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and construct RINEX structures from UBX messages
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- `binex`: same thing for BINEX protocol
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- `rtcm`: same thing for RTCM protocol
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- `gnss-protos`: to serialize RINEX structures to raw GNSS navigation messages,
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for example GPS messages, or collecting a RINEX structure from GPS messages.
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For example, this could be the high level entrypoint to a GNSS simulator.
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`GNSS-QC` (Quality check) relates to complex geodesic processing workflows, usually starting
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from RINEX files, by means of this library. To support demanding `GNSS-QC` operations, we provide two options:
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- The `qc` option is the entry point, it provides means to manipulate thos files.
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For example, merging two files into one.
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- The `processing` features builds on top `qc` and is expected to provide all requirements
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to complex GNSS-QC workflows.
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Formats & revisions
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===================
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The parser supports RINEX V4.0, that includes RINEX V4 Navigation files.
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We support the latest revisions for both IONEX and Clock RINEX.
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We support the latest (rev D) SP3 format.
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All revisions are supported by default and without compilation options: the parser automatically adapts.
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RINEX formats & applications
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============================
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| Type | Parser | Writer | CLI | Content | Record Iteration | Timescale |
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|----------------------------|-------------------|---------------------|----------------------|----------------------|----------------------| -----------|
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| Navigation (NAV) | :heavy_check_mark:| :construction: | :heavy_check_mark: :chart_with_upwards_trend: | Ephemerides, Ionosphere models | Epoch | SV System time broadcasting this message |
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| Observation (OBS) | :heavy_check_mark:| :heavy_check_mark: | :heavy_check_mark: :chart_with_upwards_trend: | Phase, Pseudo Range, Doppler, SSI | Epoch | GNSS (any) |
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| CRINEX (Compressed OBS) | :heavy_check_mark:| RNX2CRX1 :heavy_check_mark: RNX2CRX3 :construction: | :heavy_check_mark: :chart_with_upwards_trend: | Phase, Pseudo Range, Doppler, SSI | Epoch | GNSS (any) |
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| Meteorological data (MET) | :heavy_check_mark:| :heavy_check_mark: | :heavy_check_mark: :chart_with_upwards_trend: | Meteo sensors data (Temperature, Moisture..) | Epoch | UTC |
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| Clocks (CLK) | :heavy_check_mark:| :construction: | :heavy_check_mark: :chart_with_upwards_trend: | Precise SV and Reference Clock states | Epoch | GNSS (any) |
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| Antenna (ATX) | :heavy_check_mark:| :construction: | :construction: | Precise RX/SV Antenna calibration | `antex::Antenna` | :heavy_minus_sign: |
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| Ionosphere Maps (IONEX) | :heavy_check_mark:| :construction: | :heavy_check_mark: :chart_with_upwards_trend: | Ionosphere Electron density | Epoch | UTC |
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| DORIS RINEX | :heavy_check_mark:| :construction: | :heavy_check_mark: | Temperature, Moisture, Pseudo Range and Phase observations | Epoch | TAI |
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| Type | Parser | Writer | Content | Record Indexing | Timescale |
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|----------------------------|-------------------|---------------------|-----------------------------------------------|----------------------------------------------------------------------------------| -----------|
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| Navigation (NAV) | :heavy_check_mark:| :heavy_check_mark: | Ephemerides, Ionosphere models | [NavKey](https://docs.rs/rinex/latest/rinex/navigation/struct.NavKey.html) | SV System time broadcasting this message |
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| Observation (OBS) | :heavy_check_mark:| :heavy_check_mark: | Phase, Pseudo Range, Doppler, SSI | [ObsKey](https://docs.rs/rinex/latest/rinex/observation/struct.ObsKey.html) | GNSS (any) |
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| CRINEX (Compressed OBS) | :heavy_check_mark:| :heavy_check_mark: | Phase, Pseudo Range, Doppler, SSI | [ObsKey](https://docs.rs/rinex/latest/rinex/observation/struct.ObsKey.html) | GNSS (any) |
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| Meteorological data (MET) | :heavy_check_mark:| :heavy_check_mark: | Meteo sensors data (Temperature, Moisture..) | [MeteoKey](https://docs.rs/rinex/latest/rinex/meteo/struct.MeteoKey.html) | UTC |
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| Clocks (CLK) | :heavy_check_mark:| :construction: | Precise temporal states | [ClockKey](https://docs.rs/rinex/latest/rinex/clock/record/struct.ClockKey.html) | GNSS (any) |
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| Antenna (ATX) | :heavy_check_mark:| :construction: | Precise RX/SV Antenna calibration | `antex::Antenna` | :heavy_minus_sign: |
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| Ionosphere Maps (IONEX) | [Moved to dedicated parser](https://github.com/nav-solutions/ionex) | :heavy_check_mark: | Ionosphere Electron density | [Record Key](https://docs.rs/ionex/latest/ionex/key/struct.Key.html) | UTC |
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| DORIS RINEX | [Moved to dedicated parser](https://github.com/nav-solutions/doris) | :heavy_check_mark: | Temperature, Moisture, Pseudo Range and Phase observations | [Record Key](https://docs.rs/doris-rs/latest/doris_rs/record/struct.Key.html) | TAI / "DORIS" timescale |
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Contributions
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=============
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Contributions are welcomed, do not hesitate to open new issues
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and submit Pull Requests through Github.
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If you want to take part in active developments, check out our [contribution guidelines and hints](CONTRIBUTING.md) to navigate this library quicker.
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Contributions are welcomed, we still have a lot to accomplish, any help is always appreciated.
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[We wrote these few lines](CONTRIBUTING.md) to help you understand the inner workings.
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Join us on [Discord](https://discord.gg/EqhEBXBmJh) to discuss ongoing and future developments.

‎db/NAV/orbits.json‎

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}
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},
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{
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"constellation": "GEO",
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"constellation": "SBAS",
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"version": {
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"major": 3
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},
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}
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},
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{
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"constellation": "GEO",
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"constellation": "SBAS",
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"version": {
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"major": 4
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},

‎src/error.rs‎

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pub enum FormattingError {
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#[error("i/o: output error")]
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OutputError(#[from] IoError),
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#[error("missing constellation information")]
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NoConstellationDefinition,
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UndefinedConstellation,
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#[error("missing navigation standard specs")]
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MissingNavigationStandards,
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#[error("undefined observables")]
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UndefinedObservables,
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#[error("missing observable definition")]
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MissingObservableDefinition,
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#[error("nav: unknown radio message")]
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NoNavigationDefinition,
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#[error("nav: missing grid defs")]
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NoGridDefinition,
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}

‎src/hatanaka/crinex.rs‎

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pub struct CRINEX {
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/// Compression program version
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pub version: Version,
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/// Compression program name
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pub prog: String,
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/// Date of compression
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pub date: Epoch,
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}

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