Set up pedantic Clippy warnings (#131)

This sets the `clippy::pedantic` set of lints by default to be warnings,
but remember that CI will fail on any warnings. The second commit goes
through and fixes most of the new warnings. There are a handful of
places where some of the lints are disabled.

## Disabled lints

- `#[allow(clippy::many_single_char_names)]` was used twice
(`crate::coords::llh::LLHRadians::to_ecef()`, and
`crate::math::compile_time_sqrt()`). These two functions are rather
short and implement common mathematical formulas, so there aren't really
super descriptive names to give the variables and doing so would make
the implementation even more different than the original source.
- `#![allow(clippy::cast_possible_truncation, clippy::cast_sign_loss,
clippy::cast_precision_loss)]` for the entire `crate::time::mjd` module,
basically we're doing a lot of not great casting
- `#![allow(clippy::cast_possible_truncation, clippy::cast_sign_loss)]`
for the entire `crate::time::utc` module, similar use of lots of not
great casting

Author: jbangelo

swiftnav/src/coords/ecef.rs

@@ -50,10 +50,10 @@ impl ECEF {
         let p = (self.x() * self.x() + self.y() * self.y()).sqrt();
 
         // Compute longitude first, this can be done exactly.
-        let longitude = if p != 0.0 {
-            self.y().atan2(self.x())
-        } else {
+        let longitude = if p == 0.0 {
             0.0
+        } else {
+            self.y().atan2(self.x())
         };
 
         // If we are close to the pole then convergence is very slow, treat this is a
@@ -171,7 +171,7 @@ impl ECEF {
     /// Rotate this ECEF vector into NED coordinates, at a given
     /// reference point. This is approporiate for converting velocity vectors.
     ///
-    /// This is the inverse of [NED::ecef_vector_at].
+    /// This is the inverse of [`NED::ecef_vector_at`].
     #[must_use]
     pub fn ned_vector_at(&self, point: &ECEF) -> NED {
         let m = math::ecef2ned_matrix(point.to_llh());

swiftnav/src/coords/llh.rs

@@ -128,6 +128,7 @@ impl LLHRadians {
     ///
     /// Uses the [`WGS84`] Ellipsoid
     #[must_use]
+    #[expect(clippy::many_single_char_names, reason = "It's math, whatyagonnado?")]
     pub fn to_ecef(&self) -> ECEF {
         let d = WGS84::E * (self.latitude()).sin();
         let n = WGS84::A / (1. - d * d).sqrt();

swiftnav/src/coords/mod.rs

@@ -10,10 +10,10 @@
 //! Coordinates and conversions
 //!
 //! These four coordinates types are defined:
-//!  * [LLHDegrees]/[LLHRadians] - Geodetic coordinates, Latitude Lontitude Height
-//!  * [ECEF] - Cartesian coordinates, Earth Centered, Earth Fixed
-//!  * [NED] - Local direction coordinates, North East Down
-//!  * [AzimuthElevation] - Relative direction coordinates, Azimith Elevation
+//!  * [`LLHDegrees`]/[`LLHRadians`] - Geodetic coordinates, Latitude Lontitude Height
+//!  * [`ECEF`] - Cartesian coordinates, Earth Centered, Earth Fixed
+//!  * [`NED`] - Local direction coordinates, North East Down
+//!  * [`AzimuthElevation`] - Relative direction coordinates, Azimith Elevation
 //!
 //! # Geodetic to Cartesian
 //!
@@ -242,6 +242,11 @@ impl Coordinate {
     }
 
     /// Transform the coordinate from into a new reference frame
+    ///
+    /// # Errors
+    ///
+    /// An error is returned if a transformation from the coordinate's reference frame to the requested
+    /// reference frame could not be found.
     pub fn transform_to(&self, new_frame: ReferenceFrame) -> Result<Self, TransformationNotFound> {
         get_transformation(self.reference_frame, new_frame)
             .map(|transformation| transformation.transform(self))

swiftnav/src/coords/ned.rs

@@ -42,7 +42,7 @@ impl NED {
     /// Rotate a local [`NED`] vector into a [`ECEF`] vector, at a given
     /// reference point. This is approporiate for converting velocity vectors.
     ///
-    /// This is the inverse of [ECEF::ned_vector_at].
+    /// This is the inverse of [`ECEF::ned_vector_at`].
     #[must_use]
     pub fn ecef_vector_at(&self, ref_ecef: &ECEF) -> ECEF {
         let m = math::ecef2ned_matrix(ref_ecef.to_llh());

swiftnav/src/edc.rs

@@ -41,35 +41,262 @@
 //! ```
 
 const CRC24Q_TABLE: [u32; 256] = [
-    0x000000, 0x864CFB, 0x8AD50D, 0x0C99F6, 0x93E6E1, 0x15AA1A, 0x1933EC, 0x9F7F17, 0xA18139,
-    0x27CDC2, 0x2B5434, 0xAD18CF, 0x3267D8, 0xB42B23, 0xB8B2D5, 0x3EFE2E, 0xC54E89, 0x430272,
-    0x4F9B84, 0xC9D77F, 0x56A868, 0xD0E493, 0xDC7D65, 0x5A319E, 0x64CFB0, 0xE2834B, 0xEE1ABD,
-    0x685646, 0xF72951, 0x7165AA, 0x7DFC5C, 0xFBB0A7, 0x0CD1E9, 0x8A9D12, 0x8604E4, 0x00481F,
-    0x9F3708, 0x197BF3, 0x15E205, 0x93AEFE, 0xAD50D0, 0x2B1C2B, 0x2785DD, 0xA1C926, 0x3EB631,
-    0xB8FACA, 0xB4633C, 0x322FC7, 0xC99F60, 0x4FD39B, 0x434A6D, 0xC50696, 0x5A7981, 0xDC357A,
-    0xD0AC8C, 0x56E077, 0x681E59, 0xEE52A2, 0xE2CB54, 0x6487AF, 0xFBF8B8, 0x7DB443, 0x712DB5,
-    0xF7614E, 0x19A3D2, 0x9FEF29, 0x9376DF, 0x153A24, 0x8A4533, 0x0C09C8, 0x00903E, 0x86DCC5,
-    0xB822EB, 0x3E6E10, 0x32F7E6, 0xB4BB1D, 0x2BC40A, 0xAD88F1, 0xA11107, 0x275DFC, 0xDCED5B,
-    0x5AA1A0, 0x563856, 0xD074AD, 0x4F0BBA, 0xC94741, 0xC5DEB7, 0x43924C, 0x7D6C62, 0xFB2099,
-    0xF7B96F, 0x71F594, 0xEE8A83, 0x68C678, 0x645F8E, 0xE21375, 0x15723B, 0x933EC0, 0x9FA736,
-    0x19EBCD, 0x8694DA, 0x00D821, 0x0C41D7, 0x8A0D2C, 0xB4F302, 0x32BFF9, 0x3E260F, 0xB86AF4,
-    0x2715E3, 0xA15918, 0xADC0EE, 0x2B8C15, 0xD03CB2, 0x567049, 0x5AE9BF, 0xDCA544, 0x43DA53,
-    0xC596A8, 0xC90F5E, 0x4F43A5, 0x71BD8B, 0xF7F170, 0xFB6886, 0x7D247D, 0xE25B6A, 0x641791,
-    0x688E67, 0xEEC29C, 0x3347A4, 0xB50B5F, 0xB992A9, 0x3FDE52, 0xA0A145, 0x26EDBE, 0x2A7448,
-    0xAC38B3, 0x92C69D, 0x148A66, 0x181390, 0x9E5F6B, 0x01207C, 0x876C87, 0x8BF571, 0x0DB98A,
-    0xF6092D, 0x7045D6, 0x7CDC20, 0xFA90DB, 0x65EFCC, 0xE3A337, 0xEF3AC1, 0x69763A, 0x578814,
-    0xD1C4EF, 0xDD5D19, 0x5B11E2, 0xC46EF5, 0x42220E, 0x4EBBF8, 0xC8F703, 0x3F964D, 0xB9DAB6,
-    0xB54340, 0x330FBB, 0xAC70AC, 0x2A3C57, 0x26A5A1, 0xA0E95A, 0x9E1774, 0x185B8F, 0x14C279,
-    0x928E82, 0x0DF195, 0x8BBD6E, 0x872498, 0x016863, 0xFAD8C4, 0x7C943F, 0x700DC9, 0xF64132,
-    0x693E25, 0xEF72DE, 0xE3EB28, 0x65A7D3, 0x5B59FD, 0xDD1506, 0xD18CF0, 0x57C00B, 0xC8BF1C,
-    0x4EF3E7, 0x426A11, 0xC426EA, 0x2AE476, 0xACA88D, 0xA0317B, 0x267D80, 0xB90297, 0x3F4E6C,
-    0x33D79A, 0xB59B61, 0x8B654F, 0x0D29B4, 0x01B042, 0x87FCB9, 0x1883AE, 0x9ECF55, 0x9256A3,
-    0x141A58, 0xEFAAFF, 0x69E604, 0x657FF2, 0xE33309, 0x7C4C1E, 0xFA00E5, 0xF69913, 0x70D5E8,
-    0x4E2BC6, 0xC8673D, 0xC4FECB, 0x42B230, 0xDDCD27, 0x5B81DC, 0x57182A, 0xD154D1, 0x26359F,
-    0xA07964, 0xACE092, 0x2AAC69, 0xB5D37E, 0x339F85, 0x3F0673, 0xB94A88, 0x87B4A6, 0x01F85D,
-    0x0D61AB, 0x8B2D50, 0x145247, 0x921EBC, 0x9E874A, 0x18CBB1, 0xE37B16, 0x6537ED, 0x69AE1B,
-    0xEFE2E0, 0x709DF7, 0xF6D10C, 0xFA48FA, 0x7C0401, 0x42FA2F, 0xC4B6D4, 0xC82F22, 0x4E63D9,
-    0xD11CCE, 0x575035, 0x5BC9C3, 0xDD8538,
+    0x0000_0000,
+    0x0086_4CFB,
+    0x008A_D50D,
+    0x000C_99F6,
+    0x0093_E6E1,
+    0x0015_AA1A,
+    0x0019_33EC,
+    0x009F_7F17,
+    0x00A1_8139,
+    0x0027_CDC2,
+    0x002B_5434,
+    0x00AD_18CF,
+    0x0032_67D8,
+    0x00B4_2B23,
+    0x00B8_B2D5,
+    0x003E_FE2E,
+    0x00C5_4E89,
+    0x0043_0272,
+    0x004F_9B84,
+    0x00C9_D77F,
+    0x0056_A868,
+    0x00D0_E493,
+    0x00DC_7D65,
+    0x005A_319E,
+    0x0064_CFB0,
+    0x00E2_834B,
+    0x00EE_1ABD,
+    0x0068_5646,
+    0x00F7_2951,
+    0x0071_65AA,
+    0x007D_FC5C,
+    0x00FB_B0A7,
+    0x000C_D1E9,
+    0x008A_9D12,
+    0x0086_04E4,
+    0x0000_481F,
+    0x009F_3708,
+    0x0019_7BF3,
+    0x0015_E205,
+    0x0093_AEFE,
+    0x00AD_50D0,
+    0x002B_1C2B,
+    0x0027_85DD,
+    0x00A1_C926,
+    0x003E_B631,
+    0x00B8_FACA,
+    0x00B4_633C,
+    0x0032_2FC7,
+    0x00C9_9F60,
+    0x004F_D39B,
+    0x0043_4A6D,
+    0x00C5_0696,
+    0x005A_7981,
+    0x00DC_357A,
+    0x00D0_AC8C,
+    0x0056_E077,
+    0x0068_1E59,
+    0x00EE_52A2,
+    0x00E2_CB54,
+    0x0064_87AF,
+    0x00FB_F8B8,
+    0x007D_B443,
+    0x0071_2DB5,
+    0x00F7_614E,
+    0x0019_A3D2,
+    0x009F_EF29,
+    0x0093_76DF,
+    0x0015_3A24,
+    0x008A_4533,
+    0x000C_09C8,
+    0x0000_903E,
+    0x0086_DCC5,
+    0x00B8_22EB,
+    0x003E_6E10,
+    0x0032_F7E6,
+    0x00B4_BB1D,
+    0x002B_C40A,
+    0x00AD_88F1,
+    0x00A1_1107,
+    0x0027_5DFC,
+    0x00DC_ED5B,
+    0x005A_A1A0,
+    0x0056_3856,
+    0x00D0_74AD,
+    0x004F_0BBA,
+    0x00C9_4741,
+    0x00C5_DEB7,
+    0x0043_924C,
+    0x007D_6C62,
+    0x00FB_2099,
+    0x00F7_B96F,
+    0x0071_F594,
+    0x00EE_8A83,
+    0x0068_C678,
+    0x0064_5F8E,
+    0x00E2_1375,
+    0x0015_723B,
+    0x0093_3EC0,
+    0x009F_A736,
+    0x0019_EBCD,
+    0x0086_94DA,
+    0x0000_D821,
+    0x000C_41D7,
+    0x008A_0D2C,
+    0x00B4_F302,
+    0x0032_BFF9,
+    0x003E_260F,
+    0x00B8_6AF4,
+    0x0027_15E3,
+    0x00A1_5918,
+    0x00AD_C0EE,
+    0x002B_8C15,
+    0x00D0_3CB2,
+    0x0056_7049,
+    0x005A_E9BF,
+    0x00DC_A544,
+    0x0043_DA53,
+    0x00C5_96A8,
+    0x00C9_0F5E,
+    0x004F_43A5,
+    0x0071_BD8B,
+    0x00F7_F170,
+    0x00FB_6886,
+    0x007D_247D,
+    0x00E2_5B6A,
+    0x0064_1791,
+    0x0068_8E67,
+    0x00EE_C29C,
+    0x0033_47A4,
+    0x00B5_0B5F,
+    0x00B9_92A9,
+    0x003F_DE52,
+    0x00A0_A145,
+    0x0026_EDBE,
+    0x002A_7448,
+    0x00AC_38B3,
+    0x0092_C69D,
+    0x0014_8A66,
+    0x0018_1390,
+    0x009E_5F6B,
+    0x0001_207C,
+    0x0087_6C87,
+    0x008B_F571,
+    0x000D_B98A,
+    0x00F6_092D,
+    0x0070_45D6,
+    0x007C_DC20,
+    0x00FA_90DB,
+    0x0065_EFCC,
+    0x00E3_A337,
+    0x00EF_3AC1,
+    0x0069_763A,
+    0x0057_8814,
+    0x00D1_C4EF,
+    0x00DD_5D19,
+    0x005B_11E2,
+    0x00C4_6EF5,
+    0x0042_220E,
+    0x004E_BBF8,
+    0x00C8_F703,
+    0x003F_964D,
+    0x00B9_DAB6,
+    0x00B5_4340,
+    0x0033_0FBB,
+    0x00AC_70AC,
+    0x002A_3C57,
+    0x0026_A5A1,
+    0x00A0_E95A,
+    0x009E_1774,
+    0x0018_5B8F,
+    0x0014_C279,
+    0x0092_8E82,
+    0x000D_F195,
+    0x008B_BD6E,
+    0x0087_2498,
+    0x0001_6863,
+    0x00FA_D8C4,
+    0x007C_943F,
+    0x0070_0DC9,
+    0x00F6_4132,
+    0x0069_3E25,
+    0x00EF_72DE,
+    0x00E3_EB28,
+    0x0065_A7D3,
+    0x005B_59FD,
+    0x00DD_1506,
+    0x00D1_8CF0,
+    0x0057_C00B,
+    0x00C8_BF1C,
+    0x004E_F3E7,
+    0x0042_6A11,
+    0x00C4_26EA,
+    0x002A_E476,
+    0x00AC_A88D,
+    0x00A0_317B,
+    0x0026_7D80,
+    0x00B9_0297,
+    0x003F_4E6C,
+    0x0033_D79A,
+    0x00B5_9B61,
+    0x008B_654F,
+    0x000D_29B4,
+    0x0001_B042,
+    0x0087_FCB9,
+    0x0018_83AE,
+    0x009E_CF55,
+    0x0092_56A3,
+    0x0014_1A58,
+    0x00EF_AAFF,
+    0x0069_E604,
+    0x0065_7FF2,
+    0x00E3_3309,
+    0x007C_4C1E,
+    0x00FA_00E5,
+    0x00F6_9913,
+    0x0070_D5E8,
+    0x004E_2BC6,
+    0x00C8_673D,
+    0x00C4_FECB,
+    0x0042_B230,
+    0x00DD_CD27,
+    0x005B_81DC,
+    0x0057_182A,
+    0x00D1_54D1,
+    0x0026_359F,
+    0x00A0_7964,
+    0x00AC_E092,
+    0x002A_AC69,
+    0x00B5_D37E,
+    0x0033_9F85,
+    0x003F_0673,
+    0x00B9_4A88,
+    0x0087_B4A6,
+    0x0001_F85D,
+    0x000D_61AB,
+    0x008B_2D50,
+    0x0014_5247,
+    0x0092_1EBC,
+    0x009E_874A,
+    0x0018_CBB1,
+    0x00E3_7B16,
+    0x0065_37ED,
+    0x0069_AE1B,
+    0x00EF_E2E0,
+    0x0070_9DF7,
+    0x00F6_D10C,
+    0x00FA_48FA,
+    0x007C_0401,
+    0x0042_FA2F,
+    0x00C4_B6D4,
+    0x00C8_2F22,
+    0x004E_63D9,
+    0x00D1_1CCE,
+    0x0057_5035,
+    0x005B_C9C3,
+    0x00DD_8538,
 ];
 
 /// Calculate Qualcomm 24-bit Cyclical Redundancy Check (CRC-24Q).
@@ -89,10 +316,10 @@ const CRC24Q_TABLE: [u32; 256] = [
 /// Only the lower 24 bits of the initial value are used!
 #[must_use]
 pub fn compute_crc24q(buf: &[u8], initial_value: u32) -> u32 {
-    let mut crc = initial_value & 0xFFFFFF;
+    let mut crc = initial_value & 0x00FF_FFFF;
     for &byte in buf {
-        let index = ((crc >> 16) ^ byte as u32) as usize & 0xFF;
-        crc = ((crc << 8) & 0xFFFFFF) ^ CRC24Q_TABLE[index];
+        let index = ((crc >> 16) ^ u32::from(byte)) as usize & 0xFF;
+        crc = ((crc << 8) & 0x00FF_FFFF) ^ CRC24Q_TABLE[index];
     }
     crc
 }

swiftnav/src/lib.rs

@@ -53,6 +53,8 @@
 //! transform positions in one reference frame into another so you can properly
 //! compare positions.
 
+#![warn(clippy::pedantic)]
+
 pub mod coords;
 pub mod edc;
 mod math;