Expose corrected pseudoranges via preprocessEpoch API

.dockerignore

@@ -0,0 +1,13 @@
+.git
+.github
+.venv
+build
+site
+output
+__pycache__
+*.pyc
+*.pyo
+*.swp
+data
+docs/site
+tmp

.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,42 @@
+## Summary
+
+- What changed?
+- Why?
+
+## Scope
+
+- [ ] Single feature / single user-visible value
+- [ ] No unrelated refactor mixed in
+- [ ] No docs-only noise mixed into solver/protocol work
+
+## External Reference
+
+- Source repo used for comparison, if any:
+- What was adopted here:
+- What was intentionally not adopted:
+
+## Validation
+
+- [ ] `python3 tests/test_cli_tools.py`
+- [ ] `python3 tests/test_benchmark_scripts.py`
+- [ ] `python3 tests/test_packaging.py`
+- [ ] `python3 tests/test_python_bindings.py -v`
+- [ ] `python3 tests/test_ros2_node.py`
+- [ ] `ctest --test-dir build --output-on-failure`
+
+Focused checks run:
+
+```bash
+# paste focused commands here
+```
+
+## Sign-off / Benchmark Impact
+
+- Added or updated sign-off:
+- Affected dataset(s):
+- Expected metric impact:
+
+## Notes
+
+- Risk:
+- Follow-up PRs:

.github/workflows/ci.yml

@@ -10,6 +10,7 @@ jobs:
   build-and-test:
     runs-on: ${{ matrix.os }}
     strategy:
+      fail-fast: false
       matrix:
         os: [ubuntu-latest, macos-latest]
         compiler: [gcc, clang]
@@ -18,67 +19,221 @@ jobs:
             compiler: gcc
 
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
 
     - name: Install dependencies (Ubuntu)
       if: matrix.os == 'ubuntu-latest'
       run: |
         sudo apt-get update
-        sudo apt-get install -y libeigen3-dev libgtest-dev cmake build-essential
+        sudo apt-get install -y libeigen3-dev libgtest-dev cmake build-essential python3-dev pybind11-dev python3-numpy python3-matplotlib
         if [ "${{ matrix.compiler }}" = "clang" ]; then
           sudo apt-get install -y clang
         fi
 
     - name: Install dependencies (macOS)
       if: matrix.os == 'macos-latest'
       run: |
-        brew install eigen googletest cmake
-        if [ "${{ matrix.compiler }}" = "clang" ]; then
-          brew install llvm
-        fi
+        brew install eigen googletest cmake pybind11 python
+        python3 -m venv .venv
+        . .venv/bin/activate
+        python -m pip install --upgrade pip
+        python -m pip install numpy matplotlib
+        echo "${GITHUB_WORKSPACE}/.venv/bin" >> "$GITHUB_PATH"
+
+    - name: Install docs dependencies (Ubuntu)
+      if: matrix.os == 'ubuntu-latest'
+      run: python3 -m pip install --user -r requirements-docs.txt
+
+    - name: Install docs dependencies (macOS)
+      if: matrix.os == 'macos-latest'
+      run: |
+        . .venv/bin/activate
+        python -m pip install -r requirements-docs.txt
 
     - name: Configure CMake
       run: |
         if [ "${{ matrix.compiler }}" = "clang" ]; then
           export CC=clang
           export CXX=clang++
         fi
-        cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DBUILD_EXAMPLES=ON
+        cmake_args="-B build -DCMAKE_BUILD_TYPE=Release"
+        if [ "${{ matrix.os }}" = "macos-latest" ]; then
+          cmake_args="$cmake_args -DPython3_EXECUTABLE=${GITHUB_WORKSPACE}/.venv/bin/python"
+        fi
+        cmake ${cmake_args}
 
     - name: Build
-      run: cmake --build build --config Release -j$(nproc)
+      run: cmake --build build --config Release --parallel
 
     - name: Run tests
       working-directory: build
       run: ctest --output-on-failure
 
-    - name: Run examples
-      working-directory: build
+    - name: Docker smoke
+      if: matrix.os == 'ubuntu-latest' && matrix.compiler == 'gcc'
       run: |
-        # Create test data directory
-        mkdir -p test_data
-        # Note: In real usage, you would add actual RINEX test files here
-        echo "Examples would run with real RINEX data"
+        docker build -t libgnsspp-ci .
+        docker run --rm libgnsspp-ci --help >/dev/null
+        docker run --rm libgnsspp-ci web --help >/dev/null
+        docker compose -f compose.yaml config >/dev/null
+
+    - name: Optional PPC RTK sign-off
+      if: matrix.os == 'ubuntu-latest' && matrix.compiler == 'gcc'
+      env:
+        GNSSPP_PPC_DATASET_ROOT: ${{ vars.GNSSPP_PPC_DATASET_ROOT }}
+        GNSSPP_RTKLIB_BIN: ${{ vars.GNSSPP_RTKLIB_BIN }}
+      run: |
+        if [ -z "${GNSSPP_PPC_DATASET_ROOT}" ] || [ ! -d "${GNSSPP_PPC_DATASET_ROOT}" ]; then
+          echo "PPC-Dataset root is unavailable; skipping PPC RTK sign-off."
+          exit 0
+        fi
+        mkdir -p output
+        python3 apps/gnss.py ppc-rtk-signoff \
+          --dataset-root "${GNSSPP_PPC_DATASET_ROOT}" \
+          --city nagoya \
+          --max-epochs 120 \
+          --summary-json output/ppc_nagoya_run1_rtk_summary.json
+        if [ -n "${GNSSPP_RTKLIB_BIN}" ] && [ -x "${GNSSPP_RTKLIB_BIN}" ]; then
+          python3 apps/gnss.py ppc-rtk-signoff \
+            --dataset-root "${GNSSPP_PPC_DATASET_ROOT}" \
+            --city tokyo \
+            --max-epochs 120 \
+            --rtklib-bin "${GNSSPP_RTKLIB_BIN}" \
+            --summary-json output/ppc_tokyo_run1_rtk_summary.json
+        else
+          echo "RTKLIB binary is unavailable; skipping Tokyo RTKLIB side-by-side sign-off."
+        fi
+
+    - name: Upload PPC sign-off summaries
+      if: always() && matrix.os == 'ubuntu-latest' && matrix.compiler == 'gcc'
+      uses: actions/upload-artifact@v4
+      with:
+        name: ppc-signoff-${{ matrix.os }}-${{ matrix.compiler }}
+        path: |
+          output/ppc_nagoya_run1_rtk_summary.json
+          output/ppc_tokyo_run1_rtk_summary.json
+        if-no-files-found: ignore
+
+    - name: Optional SCORPION moving-base sign-off
+      if: matrix.os == 'ubuntu-latest' && matrix.compiler == 'gcc'
+      env:
+        GNSSPP_SCORPION_MOVING_BASE_INPUT: ${{ vars.GNSSPP_SCORPION_MOVING_BASE_INPUT }}
+        GNSSPP_SCORPION_MOVING_BASE_URL: ${{ vars.GNSSPP_SCORPION_MOVING_BASE_URL }}
+      run: |
+        input_args=()
+        if [ -n "${GNSSPP_SCORPION_MOVING_BASE_INPUT}" ] && [ -e "${GNSSPP_SCORPION_MOVING_BASE_INPUT}" ]; then
+          input_args=(--input "${GNSSPP_SCORPION_MOVING_BASE_INPUT}")
+        elif [ -n "${GNSSPP_SCORPION_MOVING_BASE_URL}" ]; then
+          input_args=(--input-url "${GNSSPP_SCORPION_MOVING_BASE_URL}")
+        else
+          echo "SCORPION moving-base input is unavailable; skipping sign-off."
+          exit 0
+        fi
+        mkdir -p output
+        python3 apps/gnss.py scorpion-moving-base-signoff \
+          "${input_args[@]}" \
+          --summary-json output/scorpion_moving_base_summary.json \
+          --max-epochs 120 \
+          --require-matched-epochs-min 80 \
+          --require-fix-rate-min 90 \
+          --require-p95-baseline-error-max 0.20 \
+          --require-p95-heading-error-max 10 \
+          --require-realtime-factor-min 1.0
+
+    - name: Optional PPP products sign-off with MALIB comparison
+      if: matrix.os == 'ubuntu-latest' && matrix.compiler == 'gcc'
+      env:
+        GNSSPP_MALIB_BIN: ${{ vars.GNSSPP_MALIB_BIN }}
+      run: |
+        if [ -z "${GNSSPP_MALIB_BIN}" ] || [ ! -x "${GNSSPP_MALIB_BIN}" ]; then
+          echo "MALIB binary is unavailable; skipping PPP products comparison sign-off."
+          exit 0
+        fi
+        mkdir -p output
+        python3 apps/gnss.py ppp-products-signoff \
+          --profile kinematic \
+          --obs data/rover_kinematic.obs \
+          --base data/base_kinematic.obs \
+          --nav data/navigation_kinematic.nav \
+          --summary-json output/ppp_kinematic_products_summary.json \
+          --max-epochs 60 \
+          --malib-bin "${GNSSPP_MALIB_BIN}" \
+          --require-common-epoch-pairs-min 20 \
+          --require-ppp-solution-rate-min 100
+
+    - name: Generate dashboard artifacts
+      if: matrix.os == 'ubuntu-latest' && matrix.compiler == 'gcc'
+      run: |
+        mkdir -p output
+        python3 apps/gnss.py visibility \
+          --obs data/rover_static.obs \
+          --nav data/navigation_static.nav \
+          --csv output/visibility_static.csv \
+          --summary-json output/visibility_static_summary.json \
+          --max-epochs 5 \
+          --quiet
+        python3 apps/gnss.py visibility-plot output/visibility_static.csv output/visibility_static.png
+        python3 apps/gnss.py artifact-manifest --root . --output output/artifact_manifest.json
+
+    - name: Upload SCORPION moving-base artifacts
+      if: always() && matrix.os == 'ubuntu-latest' && matrix.compiler == 'gcc'
+      uses: actions/upload-artifact@v4
+      with:
+        name: scorpion-moving-base-${{ matrix.os }}-${{ matrix.compiler }}
+        path: |
+          output/scorpion_moving_base_summary.json
+          output/scorpion_moving_base/prepare_summary.json
+          output/scorpion_moving_base/products_summary.json
+          output/scorpion_moving_base/scorpion_moving_base.pos
+          output/scorpion_moving_base/scorpion_moving_base_matches.csv
+          output/scorpion_moving_base/scorpion_moving_base.png
+          output/scorpion_moving_base/reference.csv
+        if-no-files-found: ignore
+
+    - name: Upload PPP products comparison artifacts
+      if: always() && matrix.os == 'ubuntu-latest' && matrix.compiler == 'gcc'
+      uses: actions/upload-artifact@v4
+      with:
+        name: ppp-products-${{ matrix.os }}-${{ matrix.compiler }}
+        path: |
+          output/ppp_kinematic_products_summary.json
+          output/ppp_kinematic_products_solution.pos
+          output/ppp_kinematic_products_comparison.csv
+          output/ppp_kinematic_products_comparison.png
+          output/malib_ppp_kinematic_solution.pos
+          output/ppp_static_products_summary.json
+          output/ppp_static_products_solution.pos
+          output/ppp_static_products_comparison.csv
+          output/ppp_static_products_comparison.png
+        if-no-files-found: ignore
+
+    - name: Upload dashboard artifacts
+      if: always() && matrix.os == 'ubuntu-latest' && matrix.compiler == 'gcc'
+      uses: actions/upload-artifact@v4
+      with:
+        name: dashboard-artifacts-${{ matrix.os }}-${{ matrix.compiler }}
+        path: |
+          output/artifact_manifest.json
+          output/visibility_static_summary.json
+          output/visibility_static.csv
+          output/visibility_static.png
+        if-no-files-found: ignore
 
   static-analysis:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
 
     - name: Install dependencies
       run: |
         sudo apt-get update
-        sudo apt-get install -y libeigen3-dev cppcheck clang-tidy
+        sudo apt-get install -y libeigen3-dev cppcheck
 
     - name: Run cppcheck
       run: |
-        cppcheck --enable=all --std=c++17 --suppress=missingIncludeSystem \
-          --suppress=unusedFunction --error-exitcode=1 include/
-
-    - name: Configure for clang-tidy
-      run: |
-        cmake -B build -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
-
-    - name: Run clang-tidy
-      run: |
-        find include/ -name "*.hpp" | xargs clang-tidy -p build/
+        cppcheck --enable=warning,style --std=c++17 \
+          --suppress=missingIncludeSystem \
+          --suppress=unusedFunction \
+          --suppress=unmatchedSuppression \
+          -I include/ \
+          src/

.github/workflows/docker.yml

@@ -0,0 +1,51 @@
+name: Docker
+
+on:
+  push:
+    branches: [ main, develop ]
+    tags: [ "v*" ]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  packages: write
+
+jobs:
+  publish:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Set up QEMU
+      uses: docker/setup-qemu-action@v3
+
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v3
+
+    - name: Log in to GHCR
+      uses: docker/login-action@v3
+      with:
+        registry: ghcr.io
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+
+    - name: Extract Docker metadata
+      id: meta
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/rsasaki0109/gnssplusplus-library
+        tags: |
+          type=ref,event=branch
+          type=ref,event=tag
+          type=sha,format=short
+          type=raw,value=latest,enable=${{ github.ref == 'refs/heads/main' }}
+
+    - name: Build and push image
+      uses: docker/build-push-action@v6
+      with:
+        context: .
+        file: ./Dockerfile
+        platforms: linux/amd64
+        push: true
+        tags: ${{ steps.meta.outputs.tags }}
+        labels: ${{ steps.meta.outputs.labels }}