Clean up CI pipelines

.github/workflows/ci.yaml

@@ -1,15 +1,43 @@
 ---
 name: CI
-"on":
+on:
   pull_request:
   push:
     branches:
       - "master"
   schedule:
     - cron: "0 16 * * 1" # 8am PST every Monday
 jobs:
-  ci:
-    name: Format, lint, and test
+  lint:
+    name: Lints
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+      - name: Install rust
+        run: |
+          rustup -V
+          rustup set profile minimal
+          rustup toolchain install stable
+          rustup show
+
+      - name: Check Formatting
+        run: cargo fmt --check --all --verbose
+
+      - name: Clippy
+        run: cargo clippy --workspace --all-features --verbose -- -Dwarnings
+
+      # Check for docs warnings
+      # Only do this for the swiftnav crate since swiftnav-sys has some errors
+      # in the bindgen output
+      - name: Docs
+        env:
+          RUSTDOCFLAGS: -D warnings
+        run: cargo doc --package swiftnav --all-features --no-deps --verbose
+
+  build:
+    name: Build and test
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
@@ -19,25 +47,18 @@ jobs:
             binary_target: x86_64-unknown-linux-musl
             needs_musl: true
             toolchain: stable
-          - os: ubuntu-20.04
-            binary_target: x86_64-unknown-linux-gnu
-            toolchain: stable
-
           # MacOS ARM
           - os: macos-latest
             binary_target: aarch64-apple-darwin
             toolchain: stable
-
           # Windows
           - os: windows-latest
             binary_target: x86_64-pc-windows-msvc
             toolchain: stable
-
           # Nightly Rust
           - os: ubuntu-latest
             binary_target: x86_64-unknown-linux-gnu
             toolchain: nightly
-
           # MSRV
           - os: ubuntu-latest
             binary_target: x86_64-unknown-linux-gnu
@@ -46,7 +67,6 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: recursive
-      - uses: davidB/rust-cargo-make@v1
 
       - name: Install musl tools
         if: matrix.needs_musl
@@ -77,4 +97,7 @@ jobs:
           rustup show
 
       - name: Build
-        run: cargo make --no-workspace workspace-ci-flow
+        run: cargo build --workspace --all-features --verbose
+
+      - name: Test
+        run: cargo test --workspace --all-features --verbose

swiftnav/src/coords.rs

@@ -41,11 +41,11 @@
 //! 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.
 
 use std::ops::{Add, AddAssign, Mul, MulAssign, Sub, SubAssign};
 

swiftnav/src/reference_frame/mod.rs

@@ -36,14 +36,14 @@
 //! This module provides several types and functions to help transform a set of coordinates
 //! from one reference frame to another, and from one epoch to another. Several sets of
 //! transformation parameters are included for converting between common reference frames.
-//! To start out, you must have a [`Coordinate`](crate::coords::Coordinate) that you want to
-//! transform. This consists of a position, an epoch, and a reference frame as well as an optional
-//! velocity. You then need to get the [`Transformation`](crate::reference_frame::Transformation)
-//! object that describes the transformation from the reference frame of the coordinate to the
-//! desired reference frame. You can then call the `transform` method on the transformation object
-//! to get a new coordinate in the desired reference frame. This transformation will change the
-//! position and velocity of the coordinate, but it does not the change the epoch of the coordinate.
-//! If you need to change the epoch of the coordinate you will need to use the [`Coordinate::adjust_epoch`](crate::coords::Coordinate::adjust_epoch)
+//! To start out, you must have a [`Coordinate`] that you want to transform. This consists of a
+//! position, an epoch, and a reference frame as well as an optional velocity. You then need to
+//! get the [`Transformation`] object that describes the transformation from the reference
+//! frame of the coordinate to the desired reference frame. You can then call the `transform`
+//! method on the transformation object to get a new coordinate in the desired reference frame.
+//! This transformation will change the position and velocity of the coordinate, but it does
+//! not the change the epoch of the coordinate. If you need to change the epoch of the
+//! coordinate you will need to use the [`Coordinate::adjust_epoch`](crate::coords::Coordinate::adjust_epoch)
 //! method which uses the velocity of the coordinate to determine the position at the new epoch.
 //!
 //! # Example
@@ -304,7 +304,7 @@ pub fn get_transformation(
 
 /// A helper type for finding transformations between reference frames that require multiple steps
 ///
-/// This object can be used to determine which calls to [`get_transformation`](crate::reference_frame::get_transformation)
+/// This object can be used to determine which calls to [`get_transformation`]
 /// are needed when a single transformation does not exist between two reference frames.
 pub struct TransformationGraph {
     graph: HashMap<ReferenceFrame, HashSet<ReferenceFrame>>,

swiftnav/src/troposphere.rs

@@ -13,8 +13,8 @@
 //! parameters are hardcoded into the library, unlike the ionosphere model.
 //!
 //! # References
-//!   * UNB Neutral Atmosphere Models: Development and Performance. R Leandro,
-//!      M Santos, and R B Langley
+//! * UNB Neutral Atmosphere Models: Development and Performance. R Leandro,
+//!   M Santos, and R B Langley
 
 ///  Calculate tropospheric delay using UNM3m model.
 ///