swift-nav
diff --git a/‎.bazelrc
Lines changed: 95 additions & 0 deletions b/‎.bazelrc
Lines changed: 95 additions & 0 deletions
diff --git a/‎.github/dependabot.yaml
Lines changed: 6 additions & 0 deletions b/‎.github/dependabot.yaml
Lines changed: 6 additions & 0 deletions
diff --git a/‎.github/workflows/auto-cancellation.yaml
Lines changed: 0 additions & 11 deletions b/‎.github/workflows/auto-cancellation.yaml
Lines changed: 0 additions & 11 deletions
diff --git a/‎.github/workflows/ci.yaml
Lines changed: 80 additions & 27 deletions b/‎.github/workflows/ci.yaml
Lines changed: 80 additions & 27 deletions
diff --git a/‎.gitmodules
Lines changed: 3 additions & 3 deletions b/‎.gitmodules
Lines changed: 3 additions & 3 deletions
@@ -1,6 +1,101 @@
+# Causes the build to default to the custom toolchain
+build --incompatible_enable_cc_toolchain_resolution
+
+# Overrides our custom toolchain and uses the system
+build:system --noincompatible_enable_cc_toolchain_resolution
+build:system --action_env=BAZEL_DO_NOT_DETECT_CPP_TOOLCHAIN="0"
+build:system --platform_suffix=system
+
 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
+
+# Shared sanitizer configuration
+common:sanitize -c dbg
+common:sanitize --cxxopt=-g3
+common:sanitize --copt=-g3
+common:sanitize --linkopt=-g3
+common:sanitize --cxxopt=-fno-omit-frame-pointer
+common:sanitize --copt=-fno-omit-frame-pointer
+common:sanitize --linkopt=-fno-omit-frame-pointer
+common:sanitize --@rules_swiftnav//cc:enable_symbolizer=true
+
+# Sanitizer overhead can cause some functions to become so large that
+# the compiler falls back to a linear register allocator.  This
+# shouldn't cause a sanitizer build to fail.
+common:sanitize --cxxopt=-Wno-error=disabled-optimization
+common:sanitize --copt=-Wno-error=disabled-optimization 
+common:sanitize --linkopt=-Wno-error=disabled-optimization
+# https://github.com/bazelbuild/bazel/issues/12797#issuecomment-980641064
+common:sanitize --linkopt='-fsanitize-link-c++-runtime'
+common:sanitize --cxxopt=-fPIC
+common:sanitize --copt=-fPIC
+common:sanitize --linkopt=-fPIC
+
+# Address sanitizer
+common:asan --config=sanitize
+common:asan --cxxopt=-fsanitize=address
+common:asan --copt=-fsanitize=address
+common:asan --linkopt=-fsanitize=address
+common:asan --cxxopt=-fno-optimize-sibling-calls
+common:asan --copt=-fno-optimize-sibling-calls
+common:asan --linkopt=-fno-optimize-sibling-calls
+common:asan --platform_suffix=asan
+
+# Undefined behavior sanitizer
+common:ubsan --config=sanitize
+common:ubsan --cxxopt=-fsanitize=undefined
+common:ubsan --copt=-fsanitize=undefined
+common:ubsan --linkopt=-fsanitize=undefined
+common:ubsan --cxxopt=-fno-sanitize-recover=all
+common:ubsan --copt=-fno-sanitize-recover=all
+common:ubsan --linkopt=-fno-sanitize-recover=all
+common:ubsan --cxxopt=-fsanitize=local-bounds
+common:ubsan --copt=-fsanitize=local-bounds
+common:ubsan --linkopt=-fsanitize=local-bounds
+common:ubsan --@rules_swiftnav//cc:enable_rtti=true
+# Unfortunately the current build setup doesn't seem to provide stack
+# frame names using clang++ and llvm-symbolizer.  (This was also the
+# case in cmake, but the default of g++ there _did_ provide frame
+# names in backtraces.)
+test:ubsan --action_env="UBSAN_OPTIONS=print_stacktrace=1"
+run:ubsan --action_env="UBSAN_OPTIONS=print_stacktrace=1"
+# vptr sanitizer is horribly broken to the point of throwing false positives at a
+# rate that suppressions or an ignore list are impractical.
+common:ubsan --cxxopt=-fno-sanitize=vptr
+common:ubsan --linkopt=-fno-sanitize=vptr
+common:ubsan --platform_suffix=ubsan
+
+# Dynamic memory sanitizer
+#
+# Warning: takes an incredible amount of space!  Try testing only one
+# target at a time.
+common:msan --config=sanitize
+common:msan --cxxopt=-fsanitize=memory
+common:msan --copt=-fsanitize=memory
+common:msan --linkopt=-fsanitize=memory
+common:msan --cxxopt=-fsanitize-memory-track-origins=2
+common:msan --copt=-fsanitize-memory-track-origins=2
+common:msan --linkopt=-fsanitize-memory-track-origins=2
+common:msan --cxxopt=-fsanitize-memory-use-after-dtor
+common:msan --copt=-fsanitize-memory-use-after-dtor
+common:msan --linkopt=-fsanitize-memory-use-after-dtor
+common:msan --platform_suffix=msan
+
+# > Currently, ThreadSanitizer symbolizes its output using an external
+# > addr2line process (this will be fixed in future).
+#
+# https://clang.llvm.org/docs/ThreadSanitizer.html#usage
+common:tsan --config=sanitize
+common:tsan --cxxopt=-fsanitize=thread
+common:tsan --copt=-fsanitize=thread
+common:tsan --linkopt=-fsanitize=thread
+common:tsan --platform_suffix=tsan
+
+# Helpful aliases
+common:asan_ubsan --config=asan
+common:asan_ubsan --config=ubsan
+common:ubsan_asan --config=asan_ubsan
@@ -0,0 +1,6 @@
+version: 2
+updates:
+  - package-ecosystem: github-actions
+    directory: "/"
+    schedule:
+      interval: weekly
@@ -4,20 +4,31 @@ on:
   pull_request:
   push:
     branches:
-      - 'master'
-      - 'starling-v*-release'
-      - 'v*-release'
+      - "master"
+      - "starling-v*-release"
+      - "v*-release"
     tags:
-      - 'v*'
-      - 'starling-v*'
+      - "v*"
+      - "starling-v*"
 
-jobs:
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+permissions:
+  contents: write
+  pull-requests: write
 
+jobs:
   ubuntu-codecov:
     runs-on: ubuntu-latest
-    container: ubuntu:18.04
+    container: "ubuntu:24.04"
 
     steps:
+      - name: Setup container
+        run: |
+          apt-get update
+          apt-get install -y gpg wget curl software-properties-common unzip git cmake build-essential clang llvm
 
       - name: Setup container
         run: |
@@ -32,7 +43,7 @@ jobs:
           apt-get install -y git cmake build-essential clang llvm
 
       - name: Checkout source
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4.1.7
         with:
           fetch-depth: 0
           submodules: recursive
@@ -46,10 +57,10 @@ jobs:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
           SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
           SONAR_ORGANIZATION: swift-nav
-          SONAR_PROJECT_KEY: swift-nav_libswiftnav-private
+          SONAR_PROJECT_KEY: swift-nav_libswiftnav
           SONAR_PROJECT_NAME: libswiftnav-private
           SONAR_HOST_URL: https://sonarcloud.io
-          SONAR_SCANNER_VERSION: 4.2.0.1873
+          SONAR_SCANNER_VERSION: 5.0.1.3006
 
         run: |
           bash ./ci-build.sh
@@ -58,16 +69,18 @@ jobs:
     strategy:
       matrix:
         include:
-          - {env: "MSVC", arch: "Win32"}
-          - {env: "MSVC", arch: "x64"}
-          - {env: "MinGW"}
+          - { env: "MSVC", arch: "Win32" }
+          - { env: "MSVC", arch: "x64" }
+          - { env: "MinGW" }
 
-    runs-on: windows-2019
+    runs-on: windows-latest
 
     steps:
+      - name: Configure git
+        run: git config --global http.postBuffer 1048576000
 
       - name: Checkout source
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           submodules: recursive
           ssh-key: ${{ secrets.SSH_KEY }}
@@ -92,7 +105,7 @@ jobs:
       - name: Run build (MSVC)
         if: matrix.env == 'MSVC'
         env:
-          CMAKE_GENERATOR: "Visual Studio 16 2019"
+          CMAKE_GENERATOR: "Visual Studio 17 2022"
         run: |
           cmake -G "$env:CMAKE_GENERATOR" -A ${{ matrix.arch }} -S . -B build;
           cmake --build build --config Release;
@@ -112,20 +125,46 @@ jobs:
     strategy:
       matrix:
         include:
-          - {cc: "gcc-6", cxx: "g++-6", test_suite: "unit",
-             package: "gcc-6 g++-6", runs_on: "ubuntu-latest", container: "ubuntu:18.04"}
-          - {cc: "clang-6.0", cxx: "clang++-6.0", test_suite: "lint",
-             package: "clang-6.0 libc++-dev libc++abi-dev clang-format-6.0 clang-tidy-6.0",
-             runs_on: "ubuntu-latest", container: "ubuntu:18.04"}
-          - {cc: "gcc-11", cxx: "g++-11", test_suite: "unit",
-             package: "gcc-11 g++-11", runs_on: "ubuntu-latest", container: "ubuntu:18.04"}
-          - {cc: "clang", cxx: "clang++", test_suite: "unit",
-             runs_on: "macos-11", container: ~}
-
+          - {
+              cc: "gcc-10",
+              cxx: "g++-10",
+              test_suite: "unit",
+              package: "gcc-10 g++-10",
+              runs_on: "ubuntu-latest",
+              container: "ubuntu:24.04",
+            }
+          - {
+              cc: "clang-14",
+              cxx: "clang++-14",
+              test_suite: "lint",
+              package: "clang-14 libc++-dev libc++abi-dev clang-format-14 clang-tidy-14",
+              runs_on: "ubuntu-latest",
+              container: "ubuntu:24.04",
+            }
+          - {
+              cc: "gcc-14",
+              cxx: "g++-14",
+              test_suite: "unit",
+              package: "gcc-14 g++-14",
+              runs_on: "ubuntu-latest",
+              container: "ubuntu:24.04",
+            }
+          - {
+              cc: "clang",
+              cxx: "clang++",
+              test_suite: "unit",
+              runs_on: "macos-latest",
+              container: ~,
+            }
     runs-on: ${{ matrix.runs_on }}
     container: ${{ matrix.container }}
 
     steps:
+      - name: Setup container
+        if: matrix.container == 'ubuntu:24.04'
+        run: |
+          apt-get update
+          apt-get install -y gpg wget curl software-properties-common zip libeigen3-dev libserialport-dev git cmake build-essential ${{ matrix.package }}
 
       - name: Setup container
         if: matrix.container == 'ubuntu:18.04'
@@ -142,7 +181,7 @@ jobs:
           apt-get install -y libeigen3-dev libserialport-dev git cmake build-essential ${{ matrix.package }}
 
       - name: Checkout source
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4.1.7
         with:
           submodules: recursive
           ssh-key: ${{ secrets.SSH_KEY }}
@@ -155,3 +194,17 @@ jobs:
           TESTENV: c
         run: |
           bash ./ci-build.sh
+
+  dependabot:
+    name: "Dependabot"
+    needs: [unix]
+    runs-on: ubuntu-latest
+    if: ${{ github.actor == 'dependabot[bot]' && github.event_name == 'pull_request'}} # Detect that the PR author is dependabot
+    steps:
+      - name: Enable auto-merge for Dependabot PRs
+        run: |
+          gh pr review --approve "$PR_URL"
+          gh pr merge --auto --squash "$PR_URL"
+        env:
+          PR_URL: ${{github.event.pull_request.html_url}}
+          GITHUB_TOKEN: ${{secrets.GITHUB_TOKEN}}
@@ -1,6 +1,6 @@
 [submodule "cmake/common"]
 	path = cmake/common
 	url = https://github.com/swift-nav/cmake.git
-[submodule "third_party/check"]
-	path = third_party/check
-	url = https://github.com/swift-nav/check.git
+[submodule "third_party/googletest"]
+	path = third_party/googletest
+	url = git@github.com:google/googletest.git