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‎.clang-format‎

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---
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Language: Cpp
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BasedOnStyle: Google
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AccessModifierOffset: -1
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AlignAfterOpenBracket: Align
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AlignConsecutiveAssignments: false
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AlignConsecutiveDeclarations: false
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AlignEscapedNewlines: Left
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AlignOperands: true
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AlignTrailingComments: true
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AllowAllParametersOfDeclarationOnNextLine: true
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AllowShortBlocksOnASingleLine: false
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AllowShortCaseLabelsOnASingleLine: false
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AllowShortFunctionsOnASingleLine: All
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AllowShortIfStatementsOnASingleLine: true
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AllowShortLoopsOnASingleLine: true
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AlwaysBreakAfterDefinitionReturnType: None
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AlwaysBreakAfterReturnType: None
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AlwaysBreakBeforeMultilineStrings: true
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AlwaysBreakTemplateDeclarations: true
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BinPackArguments: true
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BinPackParameters: true
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BreakBeforeBraces: Custom
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BraceWrapping:
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AfterClass: true
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AfterControlStatement: true
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AfterEnum: true
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AfterFunction: true
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AfterNamespace: true
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AfterObjCDeclaration: true
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AfterStruct: true
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AfterUnion: true
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AfterExternBlock: true
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BeforeCatch: true
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BeforeElse: true
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IndentBraces: false
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SplitEmptyFunction: true
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SplitEmptyRecord: true
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SplitEmptyNamespace: true
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BreakBeforeBinaryOperators: None
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BreakBeforeBraces: Attach
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BreakBeforeInheritanceComma: false
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BreakBeforeTernaryOperators: true
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BreakConstructorInitializersBeforeComma: false
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BreakConstructorInitializers: BeforeColon
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BreakAfterJavaFieldAnnotations: false
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BreakStringLiterals: true
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ColumnLimit: 80
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CommentPragmas: '^ IWYU pragma:'
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CompactNamespaces: false
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ConstructorInitializerAllOnOneLineOrOnePerLine: true
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ConstructorInitializerIndentWidth: 4
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ContinuationIndentWidth: 4
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Cpp11BracedListStyle: true
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DerivePointerAlignment: true
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DisableFormat: false
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ExperimentalAutoDetectBinPacking: false
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FixNamespaceComments: true
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ForEachMacros:
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- foreach
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- Q_FOREACH
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- BOOST_FOREACH
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IncludeBlocks: Preserve
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IncludeCategories:
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- Regex: '^<ext/.*\.h>'
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Priority: 2
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- Regex: '^<.*\.h>'
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Priority: 1
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- Regex: '^<.*'
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Priority: 2
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- Regex: '.*'
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Priority: 3
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IncludeIsMainRegex: '([-_](test|unittest))?$'
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IndentCaseLabels: true
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IndentPPDirectives: None
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IndentWidth: 2
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IndentWrappedFunctionNames: false
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JavaScriptQuotes: Leave
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JavaScriptWrapImports: true
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KeepEmptyLinesAtTheStartOfBlocks: false
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MacroBlockBegin: ''
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MacroBlockEnd: ''
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MaxEmptyLinesToKeep: 1
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NamespaceIndentation: None
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ObjCBlockIndentWidth: 2
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ObjCSpaceAfterProperty: false
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ObjCSpaceBeforeProtocolList: false
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PenaltyBreakAssignment: 2
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PenaltyBreakBeforeFirstCallParameter: 1
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PenaltyBreakComment: 300
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PenaltyBreakFirstLessLess: 120
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PenaltyBreakString: 1000
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PenaltyExcessCharacter: 1000000
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PenaltyReturnTypeOnItsOwnLine: 200
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PointerAlignment: Left
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RawStringFormats:
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- Delimiters:
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- pb
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Language: TextProto
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BasedOnStyle: google
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ReflowComments: true
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SortIncludes: true
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SortUsingDeclarations: true
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SpaceAfterCStyleCast: false
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SpaceAfterTemplateKeyword: true
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SpaceBeforeAssignmentOperators: true
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SpaceBeforeParens: ControlStatements
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SpaceInEmptyParentheses: false
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SpacesBeforeTrailingComments: 2
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SpacesInAngles: false
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SpacesInContainerLiterals: true
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SpacesInCStyleCastParentheses: false
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SpacesInParentheses: false
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SpacesInSquareBrackets: false
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Standard: Auto
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TabWidth: 2
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UseTab: Never
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...

‎.clang-tidy‎

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# See: http://clang.llvm.org/extra/clang-tidy/
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# 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/
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#
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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"
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HeaderFilterRegex: '.*'
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AnalyzeTemporaryDtors: true
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...

‎.github/workflows/build.yml‎

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

‎.github/workflows/sonar-project.properties‎

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

‎.gitignore‎

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

‎CHANGELOG.rst‎

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

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