sidereon/

lib.rs

//! # sidereon
//!
//! A thin, ergonomic API over the [`sidereon_core`] engine. It does not model
//! anything itself: every function here delegates to a `sidereon_core` reference
//! entry point and re-exports its result structs, so the numerical behavior is
//! identical to calling the core directly. The value it adds is a small, human
//! surface:
//!
//! - [`load_sp3`] parses a precise SP3 ephemeris product,
//! - [`parse_antex`] / [`load_antex`] parse ANTEX antenna calibration products,
//! - [`parse_rinex_nav`] / [`load_rinex_nav`] parse RINEX broadcast navigation
//!   products into a queryable broadcast ephemeris store,
//! - [`parse_rinex_obs`] / [`load_rinex_obs`] parse RINEX observation products,
//! - [`lint_rinex_obs`] / [`lint_rinex_nav`] check RINEX observation/navigation
//!   text and [`repair_rinex_obs`] / [`repair_rinex_nav`] apply mechanical fixes,
//! - [`parse_rinex_clock`] / [`load_rinex_clock`] parse RINEX clock products,
//!   with lossy variants for best-effort recovery,
//! - [`decode_crinex`] / [`load_crinex`] expand Hatanaka-compressed
//!   observation files, and [`encode_crinex`] compacts plain RINEX OBS text,
//! - [`spp_inputs_from_rinex_obs`] assembles parsed RINEX observations into SPP
//!   solve inputs, with [`solve_spp_from_rinex_obs`] as the serial batch
//!   convenience,
//! - [`solve_spp`] runs single-point positioning,
//! - [`araim`] exposes multi-hypothesis protection levels from supplied
//!   geometry and integrity support data,
//! - [`solve_velocity`] solves receiver ECEF velocity and clock drift from
//!   range-rate or Doppler observations,
//! - [`solve_rtk_float_with`] / [`solve_rtk_fixed_with`] solve static RTK
//!   baselines from typed configs,
//! - [`solve_ppp_float_with`] / [`solve_ppp_fixed_with`] solve static PPP arcs
//!   from typed configs,
//! - [`solve_static`] solves multi-epoch static pseudorange batches with
//!   covariance and leave-one-out diagnostics,
//! - GNSS utility modules such as [`frequencies`], [`combinations`],
//!   [`quality`], [`carrier_phase`], [`signal`], [`velocity`],
//!   [`broadcast_comparison`], [`constants`], [`navigation`], [`geometry`],
//!   [`data`], [`dgnss`], [`constellation`], [`ppp_corrections`], [`rtk`],
//!   [`staleness`], [`tides`], [`ils`], and [`terrain`] expose the core helper
//!   surface,
//! - [`astro`] exposes time/frame conversions, Sun/Moon positions, RF link
//!   budgets, solar beta angles, equinoctial element transforms, eclipse
//!   events, conjunction/covariance utilities, CDM/OMM/TDM parsing, TCA
//!   screening, and orbit propagation,
//! - [`tle`], [`sgp4`], [`passes`], and [`tca`] remain root-level shortcuts for
//!   SGP4/TLE propagation, topocentric az/el/range over a ground station, and
//!   close-approach screening,
//! - one [`Error`] enum unifies product parsing/loading and every solve failure.
//!
//! The input, result, and ephemeris types each function takes and returns are
//! re-exported from `sidereon_core` under [`antex`], [`rinex`], [`astro`],
//! [`ephemeris`], [`positioning`], [`observables`], and the curated
//! [`rtk_filter`] / [`precise_positioning`] facades, so a consumer imports the
//! ergonomic API types from this one crate. Lower-level RTK/PPP internals remain
//! available under [`raw`] with their native core errors.
//!
//! ```
//! // Malformed input surfaces a single error type.
//! let parsed = sidereon::load_sp3(b"not a valid sp3 file");
//! assert!(matches!(parsed, Err(sidereon::Error::Sp3(_))));
//! ```
//!
//! Lower-level helpers re-exported through modules such as [`rinex`] keep their
//! native core error type. Map them explicitly at wrapper boundaries; there is
//! intentionally no blanket conversion into [`Error`].
//!
//! ```compile_fail
//! fn decode_from_reexported_core() -> sidereon::Result<()> {
//!     sidereon::rinex::decode_crinex("not a CRINEX file\n")?;
//!     Ok(())
//! }
//! ```
//!
//! Low-level RTK and PPP core modules live behind the explicit [`raw`] escape
//! hatch, not the ergonomic facades.
//!
//! ```
//! let _ = sidereon::raw::rtk_filter::RtkFilterScratch::new();
//! ```
//!
//! Hot-path RTK filter APIs are intentionally not part of the ergonomic
//! `sidereon::rtk_filter` facade.
//!
//! ```compile_fail
//! use sidereon::rtk_filter::{update_epoch_with_scratch, RtkFilterScratch};
//! ```
//!
//! PPP preparation and raw solver APIs are intentionally not part of the
//! ergonomic `sidereon::precise_positioning` facade.
//!
//! ```compile_fail
//! use sidereon::precise_positioning::{prepare_widelane_fixed_epochs, solve_float_epochs};
//! ```
//!
//! RTK config builders consume the config. Dropping the returned value must not
//! leave an unchanged copy available for solving.
//!
//! ```compile_fail
//! use sidereon::{
//!     rtk_filter::{FloatSolveOpts, MeasModel, StochasticModel},
//!     RtkFloatConfig,
//! };
//!
//! let epochs = Vec::new();
//! let ambiguity_ids = Vec::<String>::new();
//! let model = MeasModel {
//!     code_sigma_m: 0.3,
//!     phase_sigma_m: 0.003,
//!     sagnac: true,
//!     stochastic: StochasticModel::Rtklib,
//! };
//! let opts = FloatSolveOpts {
//!     position_tol_m: 1.0e-4,
//!     ambiguity_tol_m: 1.0e-4,
//!     max_iterations: 1,
//! };
//! let config = RtkFloatConfig::new(&epochs, [0.0; 3], &ambiguity_ids, &model, opts);
//! config.with_initial_baseline_m([1.0, 0.0, 0.0]);
//! let _ = sidereon::solve_rtk_float_with(config);
//! ```
//!
//! ```compile_fail
//! use std::collections::BTreeMap;
//!
//! use sidereon::{
//!     rtk_filter::{
//!         AmbiguityScale, AmbiguitySet, FixedSolveOpts, FloatSolveOpts, MeasModel,
//!         ResidualValidationOpts, StochasticModel, ValidatedFixedSolveOpts,
//!     },
//!     RtkFixedConfig,
//! };
//!
//! let epochs = Vec::new();
//! let ambiguity_ids = Vec::<String>::new();
//! let ambiguity_satellites = BTreeMap::new();
//! let wavelengths_m = BTreeMap::new();
//! let offsets_m = BTreeMap::new();
//! let float_only_systems = Vec::new();
//! let ambiguity_set = AmbiguitySet {
//!     ids: &ambiguity_ids,
//!     satellites: &ambiguity_satellites,
//!     scale: AmbiguityScale {
//!         wavelengths_m: &wavelengths_m,
//!         offsets_m: &offsets_m,
//!     },
//!     float_only_systems: &float_only_systems,
//! };
//! let model = MeasModel {
//!     code_sigma_m: 0.3,
//!     phase_sigma_m: 0.003,
//!     sagnac: true,
//!     stochastic: StochasticModel::Rtklib,
//! };
//! let opts = ValidatedFixedSolveOpts {
//!     float: FloatSolveOpts {
//!         position_tol_m: 1.0e-4,
//!         ambiguity_tol_m: 1.0e-4,
//!         max_iterations: 1,
//!     },
//!     fixed: FixedSolveOpts {
//!         position_tol_m: 1.0e-4,
//!         ambiguity_tol_m: 1.0e-4,
//!         max_iterations: 1,
//!         ratio_threshold: 3.0,
//!         partial_ambiguity_resolution: false,
//!         partial_min_ambiguities: 4,
//!     },
//!     residual: ResidualValidationOpts {
//!         threshold_sigma: None,
//!         max_exclusions: 0,
//!     },
//! };
//! let config = RtkFixedConfig::new(&epochs, [0.0; 3], ambiguity_set, &model, opts);
//! config.with_initial_baseline_m([1.0, 0.0, 0.0]);
//! let _ = sidereon::solve_rtk_fixed_with(config);
//! ```

use core::fmt;
use flate2::read::GzDecoder;
use std::io::Read;
use std::path::Path;

// Re-export core domain modules whose public helpers are intentionally part of
// the ergonomic crate surface.
pub use sidereon_core::astro::forces::{
    EarthRadiationPressure, SchwarzschildRelativity, SolarRadiationPressure,
    SphericalHarmonicCoefficient, SphericalHarmonicGravity, SphericalHarmonicGravityConfig,
    ThirdBodyBodies, ThirdBodyGravity, ZonalCoefficients, ZonalDegrees, ZonalGravity,
    EGM96_DEGREE_ORDER_36, EGM96_EMBEDDED_MAX_DEGREE, EGM96_EMBEDDED_MAX_ORDER, EGM96_MU_KM3_S2,
    EGM96_REFERENCE_RADIUS_KM,
};
pub use sidereon_core::astro::frames::transforms::{
    gcrs_to_topocentric_compute, geodetic_from_ecef_proj, geodetic_to_itrs,
    itrs_to_geodetic_compute, itrs_to_topocentric, FrameTransformError, GeodeticStationKm,
};
pub use sidereon_core::astro::frames::{
    EarthOrientation, EarthOrientationProvider, TdbEarthOrientationProvider,
};
pub use sidereon_core::astro::propagator::{ForceModelComponents, ForceModelKind};
pub use sidereon_core::geometry_quality::{
    classify, GeometryQuality, GeometryQualityThresholds, ObservabilityTier,
};
pub use sidereon_core::positioning::{
    solve_spp_from_rinex_obs, spp_inputs_from_rinex_obs, spp_inputs_from_rtcm_msm,
    RinexSppAssemblySource, RinexSppBroadcastCorrections, RinexSppEpochInputs,
    RinexSppEpochSolution, RinexSppError, RinexSppOptions, RinexSppSource, RtcmSppEpochInputs,
};
pub use sidereon_core::quality::{
    reliability_araim, reliability_design, spp_robust_fde_driver, wtest_noncentrality,
    wtest_noncentrality_components, ObservationReliability, RangeReliabilityRow,
    ReliabilityOptions, ReliabilityReport, ReliabilitySummary, WtestNoncentralityComponents,
};
pub use sidereon_core::static_positioning::{
    solve_static, StaticClockBias, StaticCovariance, StaticEpoch, StaticEpochInfluence,
    StaticInfluenceStatus, StaticResidual, StaticSatelliteBatchInfluence, StaticSatelliteInfluence,
    StaticSolution, StaticSolutionMetadata, StaticSolveError, StaticSolveOptions,
};
pub use sidereon_core::{
    antex, araim, astro, atmosphere, bias, broadcast_comparison, carrier_phase, clock_stability,
    combinations, constants, constellation, data, dgnss, dop, ephemeris, frame_catalog,
    frequencies, fusion, geodesic, geodetic_time_series, geofence, geometry, geometry_quality, ils,
    inertial, navigation, nmea, observables, orbit, positioning, ppp_corrections, qc_obs, quality,
    rinex, rtcm, rtk, sbas, sbas_pl, sidereal, signal, source_localization, ssr, staleness,
    static_positioning, terrain, terrain_store, tides, velocity,
};
pub use sidereon_core::{
    catalog, catalog_entry, propagate_position, transform, transform_from_epoch, FrameCatalogError,
    HelmertParameters, HelmertRates, HelmertTransform, TerrestrialFrame, TerrestrialPositionM,
    TerrestrialState, TerrestrialVelocityMPerYear, TERRESTRIAL_FRAME_CATALOG,
};
pub use sidereon_core::{
    containment, containment_probability, containment_probability_with_options, crossing,
    crossing_probability, crossing_probability_with_options, distance_to_boundary, CrossingEvent,
    CrossingKind, Fence, GeofenceError, GeofencePositionEstimate, PositionUncertainty,
    ProbabilityHysteresis, ProbabilityMethod, ProbabilityOptions, GEOFENCE_BOUNDARY_TOLERANCE_M,
    PLANAR_FAST_PATH_MAX_RADIUS_M,
};
pub use sidereon_core::{
    emission_media_batch_at_j2000_s, observable_media_corrections, predict_batch_with_media,
    predict_batch_with_media_parallel, predict_ranges_with_media, predict_with_media,
    AppliedMediaCorrections, EmissionMediaBatch, EmissionMediaBatchOptions, EmissionMediaStatus,
    MediaPredictOptions, MediaPredictedObservables, MediaRangePrediction,
    ObservableIonosphereCorrection, ObservableMediaOptions, ObservableTroposphereCorrection,
};
pub use sidereon_core::{
    error_ellipse_from_enu_m2, horizontal_radius_at, metrics_from_ecef_covariance_m2,
    metrics_from_enu_covariance_m2, metrics_from_kinematic_solution,
    metrics_from_position_covariance, spherical_radius_at, vertical_radius_at, ErrorEllipse,
    ErrorMetricsError, PercentileRadius, PositionErrorMetrics,
};
pub use sidereon_core::{
    gauss_markov_bias_decay, gauss_markov_bias_variance_increment, gravity_ecef_mps2,
    mechanize_ecef, normal_gravity_mps2, rodrigues_delta_dcm, simulate_imu_samples,
    simulate_imu_samples_from_increments, true_imu_increment_between, AttitudeQuaternion,
    ConingCorrection, CorrectedImuIncrement, ImuBias, ImuCalibration, ImuErrorModel, ImuGrade,
    ImuRateRandomWalk, ImuSample, ImuSampleKind, ImuSimulationOptions, ImuSimulationOutput,
    ImuSimulator, ImuSpec, InertialError, MechanizationConfig, NavState, SimulatedImuSequence,
    StrapdownMechanizer, DEFAULT_IMU_SIM_SEED, WGS84_NORMAL_GRAVITY_EQUATOR_MPS2,
    WGS84_NORMAL_GRAVITY_POLE_MPS2, WGS84_SOMIGLIANA_K,
};
pub use sidereon_core::{
    geodesic_direct, geodesic_inverse, geodetic_to_itrf, itrf_to_geodetic, FrameValueError,
    GeodesicError, GnssSatelliteId, GnssSystem, ItrfPositionM, ItrfVelocityMS, ProtectionModel,
    SatelliteIdError, Wgs84Geodetic,
};
pub use sidereon_core::{
    orbit_repeat_lag, periodicity_strength, periodicity_strength_with_sample_interval,
    repeat_period, sidereal_filter, solar_day_period, SiderealFilterError, SiderealFilterOptions,
    SiderealFilterOutput, SiderealTemplateMethod, SIDEREAL_DAY_NANOS, SIDEREAL_DAY_SECONDS,
};
pub use sidereon_core::{
    sbas_protection_levels, AirborneModel, DegradationParams, ProtectionGeometry, ProtectionRow,
    SbasErrorModel, SbasKMultipliers, SbasPlError, SbasProtection, SbasSisError,
};
pub use sidereon_core::{
    ukf_correct_closed_loop, F64Bits, FusionFilterKind, FusionStateCodecError,
    SerializableErrorStateLayout, SerializableFusionSnapshot, SerializableFusionState,
    SerializableImuSample, SerializableImuSampleKind, SerializableInsFilterState,
    SerializableLooseMeasurement, SerializableNavState, SerializableRateEndpoint,
    SerializableSatelliteId, SerializableStoredCheckpoint, SerializableStoredGnssMeasurement,
    SerializableStoredImuSample, SerializableTightCarrierPhaseObservation,
    SerializableTightFilterState, SerializableTightGnssEpoch, SerializableTightGnssObservation,
    SerializableTightRangeRateObservation, SerializableTimeSyncHistory,
    SerializableTimeSyncHistoryConfig, UkfUpdateOptions, UnscentedTransformOptions,
    FUSION_STATE_CODEC_VERSION,
};
pub use sidereon_core::{RejectedSat, RejectionReason};

/// Stable RTK input, result, option, status, and error types used by the
/// ergonomic RTK solve wrappers.
pub mod rtk_filter {
    pub use sidereon_core::rtk_filter::{
        fix_wide_lane_rtk_arc, prepare_ionosphere_free_rtk_arc, solve_moving_baseline,
        solve_moving_baseline_epoch, solve_rtk_arc, solve_static_rtk_arc,
        solve_wide_lane_fixed_rtk_arc, AmbiguityScale, AmbiguitySearch, AmbiguitySet,
        CycleSlipOptions, CycleSlipPolicy, CycleSlipSplitArc, Epoch, FixedBaselineSolution,
        FixedSolveError, FixedSolveOpts, FloatBaselineSolution, FloatResidual, FloatSolveError,
        FloatSolveOpts, FloatSolveStatus, FullSetIntegerSummary, IntegerSearchMeta, IntegerStatus,
        IonosphereFreeBaselineError, MeasModel, MovingBaselineEpoch, MovingBaselineEpochSolution,
        MovingBaselineError, MovingBaselineOpts, MovingBaselineSequenceError, MovingBaselineStatus,
        PartialSearchMeta, ReceiverAntennaCalibration, ReceiverAntennaCorrections,
        ReceiverAntennaError, ResidualComponentKind, ResidualValidationMeta,
        ResidualValidationOpts, ResidualValidationOutlier, RtkArcConfig, RtkArcEpoch,
        RtkArcEpochSolution, RtkArcError, RtkArcObservation, RtkArcPreprocessing, RtkArcSolution,
        RtkDualCycleSlipConfig, RtkDualFrequencyArcEpoch, RtkDualFrequencyObservation,
        RtkDualFrequencySatelliteObservation, RtkIonosphereFreeArcConfig,
        RtkIonosphereFreeArcError, RtkIonosphereFreeArcSolution, RtkStaticArcConfig,
        RtkStaticArcError, RtkStaticArcSolution, RtkWideLaneArcConfig, RtkWideLaneArcError,
        RtkWideLaneArcSolution, RtkWideLaneFixedArcConfig, RtkWideLaneFixedArcError,
        RtkWideLaneFixedArcIntegerMethod, RtkWideLaneFixedArcMetadata, RtkWideLaneFixedArcSolution,
        RtkWideLaneFixedArcSolveConfig, RtkWideLaneFixedSequentialArcSolution,
        RtkWideLaneFixedStaticArcSolution, SatMeas, StochasticModel,
        ValidatedFixedBaselineSolution, ValidatedFixedSolveError, ValidatedFixedSolveOpts,
        WideLaneError, WideLaneOptions,
    };
}

/// Geoid undulation lookup and orthometric-height conversion: the
/// [`sidereon_core::geoid`] surface re-exported on the ergonomic crate.
pub mod geoid {
    pub use sidereon_core::geoid::{
        egm96_ellipsoidal_height_m, egm96_grid, egm96_orthometric_height_m, egm96_undulation,
        egm96_undulations_deg, egm96_undulations_rad, ellipsoidal_height_m, geoid_undulation,
        geoid_undulations_deg, geoid_undulations_rad, orthometric_height_m, Egm2008GridSpacing,
        Egm2008RasterWindow, GeoidError, GeoidGrid, ProjVgridshiftArithmetic, ProjVgridshiftError,
    };
}

/// Astronomical almanac events re-exported from the core crate.
pub mod almanac {
    pub use sidereon_core::astro::almanac::{
        geocentric_ecliptic, lunar_solar_eclipses, meridian_transits, moon_phase_deg, moon_phases,
        planetary_events, seasons, AlmanacError, CulminationEvent, CulminationKind, EclipseEvent,
        EclipseKind, EclipticLonLat, EphemerisSource, MoonPhaseEvent, MoonPhaseKind, Planet,
        PlanetaryEvent, PlanetaryEventKind, SeasonEvent, SeasonKind, TransitBody,
    };
}

/// Stable PPP input, result, option, status, and error types used by the
/// ergonomic PPP solve wrappers.
pub mod precise_positioning {
    pub use sidereon_core::precise_positioning::{
        solve_ppp_auto_init_fixed, solve_ppp_auto_init_fixed_with_strategy,
        solve_ppp_auto_init_float, solve_ppp_auto_init_float_with_strategy, AmbiguitySearch,
        FixedAmbiguityOptions, FixedIntegerMetadata, FixedSolution, FixedSolveConfig,
        FixedSolveError, FloatEpoch, FloatObservation, FloatResidual, FloatSolution,
        FloatSolveConfig, FloatSolveError, FloatSolveOptions, FloatState, FloatStatus,
        IntegerStatus, MeasurementWeights, MissingCorrection, NoEphemerisReason, PcvSample,
        PositionCovariance, PppAutoInitError, PppAutoInitOptions, PppAutoInitStrategy,
        PppCorrectionLookup, PppInitialGuess, RangeCorrections, ReceiverAntennaFrequency,
        ReceiverAntennaOptions, SatelliteClockCorrections, TemporalCorrelationSummary,
        TroposphereOptions,
    };
}

/// Explicit escape hatch to the lower-level core RTK/PPP modules.
///
/// Items here keep their native `sidereon_core` error types and are outside the
/// one-error ergonomic wrapper surface.
pub mod raw {
    pub use sidereon_core::{precise_positioning, rtk_filter};
}

// Root-level propagation shortcuts retained for compatibility. The complete
// astrodynamics module tree is available as `sidereon::astro`.
pub use sidereon_core::astro::anomaly::{
    eccentric_to_mean, eccentric_to_true, mean_to_eccentric, mean_to_true, propagate_kepler,
    solve_kepler, true_to_eccentric, true_to_mean, AnomalyError, KeplerSolution,
};
pub use sidereon_core::astro::bodies::{
    find_moon_elevation_crossings, find_moon_transits, find_sun_elevation_crossings, moon_az_el,
    moon_elevation_deg, moon_illumination, observe, observe_spk_body, sun_az_el, sun_elevation_deg,
    BodyAzEl, BodyObservationError, Ecliptic, Equatorial, Horizontal, MoonElevationCrossing,
    MoonElevationCrossingKind, MoonElevationOptions, MoonIllumination, MoonTransit,
    MoonTransitKind, Observation, ObserveOptions, Refraction, SunElevationCrossing,
    SunElevationCrossingKind, SunElevationOptions, Target,
};
pub use sidereon_core::astro::doppler::{
    doppler_shift, range_rate_and_ratio, DopplerError, DopplerShift,
};
pub use sidereon_core::astro::passes::{
    ground_track, look_angle, look_angle_arc, look_angle_batch_parallel, look_angle_batch_serial,
    GroundStation, LookAngle, LookAngleError, PassError, PassPredictionOptions, PredictedPass,
    UtcInstant, VisibleSatellite,
};
pub mod covariance {
    pub use sidereon_core::astro::covariance::{
        covariance6_km_to_m, covariance6_m_to_km, eci_to_rtn_covariance6,
        interpolate_covariance_psd, rtn_to_eci, rtn_to_eci_covariance6, rtn_to_eci_rotation,
        symmetric, Covariance6, Covariance6Error, Mat6, RtnFrameError,
    };
}
pub use sidereon_core::astro::forces::{
    DragForce, SourcedDragForce, SpaceWeather, SpaceWeatherSource,
};
pub use sidereon_core::astro::frames::transforms::{
    gcrs_to_teme_compute, gcrs_to_true_of_date_matrix,
};
pub use sidereon_core::astro::sgp4::{DecayLatch, DecayLatchedError, Loss, XScale};
pub use sidereon_core::astro::space_weather::{
    ObservationClass, SpaceWeatherPolicy, SpaceWeatherSample, SpaceWeatherTable,
};
pub use sidereon_core::astro::{
    omm, passes, propagator, sgp4, space_weather, state, tca, tdm, tle,
};
pub use sidereon_core::ephemeris::{
    fit_precise_ephemeris_state_sample_orbit, fit_precise_ephemeris_state_sample_orbits,
    precise_interpolant_store_checksum64, sp3_ecef_state_to_eci, MmapPreciseEphemerisInterpolant,
    OrientedPreciseEphemerisStateSample, PreciseEphemerisInterpolant, PreciseEphemerisStateSample,
    PreciseInterpolantStoreError,
};

/// Root-level shortcut for satellite-relative frames and CW propagation.
///
/// ```
/// use sidereon::astro::state::CartesianState;
/// use sidereon::relative;
///
/// let chief = CartesianState::new(0.0, [7000.0, 0.0, 0.0], [0.0, 7.546049108166282, 0.0]);
/// let deputy = CartesianState::new(
///     0.0,
///     [7001.0, 0.2, 0.1],
///     [0.001, 7.546549108166282, 0.0002],
/// );
///
/// let rel = relative::relative_state(&chief, &deputy).unwrap();
/// let rebuilt = relative::absolute_from_relative(&chief, &rel).unwrap();
///
/// assert!((rebuilt.position_km - deputy.position_km).norm() < 1.0e-9);
/// assert!((rebuilt.velocity_km_s - deputy.velocity_km_s).norm() < 1.0e-12);
/// ```
pub use sidereon_core::astro::relative;

/// Parameter-covariance primitives from the core least-squares substrate.
///
/// [`covariance_from_jacobian`](sidereon_core::astro::math::least_squares::covariance_from_jacobian)
/// is the binding-facing entry point: it forms the fitted covariance straight
/// from a design (Jacobian) matrix and the post-fit cost, with no report and no
/// fabricated residual / parameter vectors. [`covariance_from_report`] keeps the
/// converged-report path and [`normal_covariance`] the explicit-scale path.
pub mod least_squares {
    pub use sidereon_core::astro::math::least_squares::{
        covariance_from_jacobian, covariance_from_report, normal_covariance,
    };
}

/// RINEX observation/navigation lint and mechanical repair types.
pub mod rinex_qc {
    pub use sidereon_core::rinex::qc::{
        AppliedEdit, Finding, FindingRef, HeaderEditError, LintReport, NavRepair, ObsHeaderEdit,
        ObsRepair, RepairAction, RepairOptions, Severity,
    };
}

use sidereon_core::antex::{Antex, AntexError};
use sidereon_core::bias::{BiasError, BiasSet, CodeDcbOptions, Parsed as BiasParsed};
use sidereon_core::ephemeris::{BroadcastEphemeris, Sp3};
use sidereon_core::observables::ObservableEphemerisSource;
use sidereon_core::positioning::{
    EphemerisSource, ReceiverSolution, SolveInputs, SolvePolicy, SolvePolicyError,
};
use sidereon_core::precise_positioning::{
    FixedSolution, FixedSolveConfig, FixedSolveError as PppFixedSolveError, FloatEpoch,
    FloatSolution, FloatSolveConfig, FloatSolveError as PppFloatSolveError, FloatState,
};
use sidereon_core::rinex::clock::{RinexClock, RinexClockError};
use sidereon_core::rinex::nav::NavParseError;
use sidereon_core::rinex::observations::ObservationFile;
use sidereon_core::rinex::qc::{LintReport, NavRepair, ObsRepair, RepairOptions};
use sidereon_core::rtk_filter::{
    AmbiguitySet, Epoch, FloatBaselineSolution, FloatSolveError as RtkFloatSolveError,
    FloatSolveOpts, MeasModel, ReceiverAntennaCorrections, ValidatedFixedBaselineSolution,
    ValidatedFixedSolveError, ValidatedFixedSolveOpts,
};
use sidereon_core::velocity::{
    VelocityError, VelocityObservation, VelocitySolution, VelocitySolveOptions,
};

/// The one error type for the ergonomic API.
///
/// Each variant wraps the error of the `sidereon_core` reference entry point the
/// corresponding function delegates to. The SP3 variant wraps the core's own
/// [`sidereon_core::Error`] (which carries a human-readable parse message); the
/// solve variants wrap their technique-specific error verbatim so no diagnostic
/// detail is lost.
#[derive(Debug)]
pub enum Error {
    /// [`load_sp3`] failed to parse the SP3 product.
    Sp3(sidereon_core::Error),
    /// [`parse_antex`] or [`load_antex`] failed to parse the ANTEX product.
    Antex(AntexError),
    /// [`parse_rinex_nav`] or [`load_rinex_nav`] failed to parse the NAV product.
    RinexNav(NavParseError),
    /// [`parse_rinex_obs`] or [`load_rinex_obs`] failed to parse the OBS product.
    RinexObs(sidereon_core::Error),
    /// [`parse_rinex_clock`] or [`load_rinex_clock`] failed to parse the clock product.
    RinexClock(RinexClockError),
    /// Bias-SINEX or CODE DCB parsing failed.
    Bias(BiasError),
    /// SSR decode or correction-store ingest failed.
    Ssr(sidereon_core::Error),
    /// [`decode_crinex`] or [`load_crinex`] failed to decode the CRINEX product.
    Crinex(sidereon_core::Error),
    /// A product file could not be read.
    Io(std::io::Error),
    /// [`solve_spp`] failed.
    Spp(SolvePolicyError),
    /// [`solve_velocity`] failed.
    Velocity(VelocityError),
    /// [`solve_rtk_float`] failed.
    RtkFloat(RtkFloatSolveError),
    /// [`solve_rtk_fixed`] failed.
    RtkFixed(ValidatedFixedSolveError),
    /// [`solve_ppp_float`] failed.
    PppFloat(PppFloatSolveError),
    /// [`solve_ppp_fixed`] failed.
    PppFixed(PppFixedSolveError),
}

impl fmt::Display for Error {
    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
        match self {
            Error::Sp3(e) => write!(f, "SP3 parse failed: {e}"),
            Error::Antex(e) => write!(f, "ANTEX parse failed: {e}"),
            Error::RinexNav(e) => write!(f, "RINEX NAV parse failed: {e}"),
            Error::RinexObs(e) => write!(f, "RINEX OBS parse failed: {e}"),
            Error::RinexClock(e) => write!(f, "RINEX clock parse failed: {e}"),
            Error::Bias(e) => write!(f, "bias product parse failed: {e}"),
            Error::Ssr(e) => write!(f, "SSR ingest failed: {e}"),
            Error::Crinex(e) => write!(f, "CRINEX decode failed: {e}"),
            Error::Io(e) => write!(f, "product file read failed: {e}"),
            Error::Spp(e) => write!(f, "{e}"),
            Error::Velocity(e) => write!(f, "velocity solve failed: {e}"),
            Error::RtkFloat(e) => write!(f, "{e}"),
            Error::RtkFixed(e) => write!(f, "{e}"),
            Error::PppFloat(e) => write!(f, "{e}"),
            Error::PppFixed(e) => write!(f, "{e}"),
        }
    }
}

impl std::error::Error for Error {
    fn source(&self) -> Option<&(dyn std::error::Error + 'static)> {
        match self {
            Error::Sp3(e) => Some(e),
            Error::Antex(e) => Some(e),
            Error::RinexNav(e) => Some(e),
            Error::RinexObs(e) => Some(e),
            Error::RinexClock(e) => Some(e),
            Error::Bias(e) => Some(e),
            Error::Ssr(e) => Some(e),
            Error::Crinex(e) => Some(e),
            Error::Io(e) => Some(e),
            Error::Spp(e) => Some(e),
            Error::Velocity(e) => Some(e),
            Error::RtkFloat(e) => Some(e),
            Error::RtkFixed(e) => Some(e),
            Error::PppFloat(e) => Some(e),
            Error::PppFixed(e) => Some(e),
        }
    }
}

impl From<AntexError> for Error {
    fn from(e: AntexError) -> Self {
        Error::Antex(e)
    }
}

impl From<NavParseError> for Error {
    fn from(e: NavParseError) -> Self {
        Error::RinexNav(e)
    }
}

impl From<RinexClockError> for Error {
    fn from(e: RinexClockError) -> Self {
        Error::RinexClock(e)
    }
}

impl From<BiasError> for Error {
    fn from(e: BiasError) -> Self {
        Error::Bias(e)
    }
}

impl From<std::io::Error> for Error {
    fn from(e: std::io::Error) -> Self {
        Error::Io(e)
    }
}

impl From<SolvePolicyError> for Error {
    fn from(e: SolvePolicyError) -> Self {
        Error::Spp(e)
    }
}

impl From<VelocityError> for Error {
    fn from(e: VelocityError) -> Self {
        Error::Velocity(e)
    }
}

impl From<RtkFloatSolveError> for Error {
    fn from(e: RtkFloatSolveError) -> Self {
        Error::RtkFloat(e)
    }
}

impl From<ValidatedFixedSolveError> for Error {
    fn from(e: ValidatedFixedSolveError) -> Self {
        Error::RtkFixed(e)
    }
}

impl From<PppFloatSolveError> for Error {
    fn from(e: PppFloatSolveError) -> Self {
        Error::PppFloat(e)
    }
}

impl From<PppFixedSolveError> for Error {
    fn from(e: PppFixedSolveError) -> Self {
        Error::PppFixed(e)
    }
}

/// Result alias for the ergonomic API.
pub type Result<T> = core::result::Result<T, Error>;

/// Typed input bundle for a static multi-epoch float RTK baseline solve.
///
/// Coordinates are Earth-fixed ECEF/ITRF metres. `base_ecef_m` is the known base
/// receiver position, and `initial_baseline_m` is the rover-minus-base baseline
/// seed `[dx, dy, dz]` in metres. Epoch observations are already-normalized core
/// RTK epochs: code and carrier-phase observables are metres, satellite
/// positions are ECEF metres, and each ambiguity id must align with the double
/// differences built from `epochs`.
#[derive(Clone)]
pub struct RtkFloatConfig<'a> {
    /// Normalized double-difference epochs for the static RTK arc.
    pub epochs: &'a [Epoch],
    /// Known base-station ECEF/ITRF position, metres.
    pub base_ecef_m: [f64; 3],
    /// Ordered float ambiguity state ids, one per non-reference ambiguity.
    pub ambiguity_ids: &'a [String],
    /// Rover-minus-base ECEF/ITRF baseline seed, metres.
    pub initial_baseline_m: [f64; 3],
    /// Code/phase sigmas, stochastic model, and Sagnac switch.
    pub model: &'a MeasModel,
    /// Iteration and convergence controls, in metres and iterations.
    pub options: FloatSolveOpts,
    /// Receiver antenna PCO/PCV corrections; `None` means no receiver correction.
    pub receiver_antenna_corrections: Option<&'a ReceiverAntennaCorrections>,
}

impl<'a> RtkFloatConfig<'a> {
    /// Build a float RTK config with a zero rover-minus-base initial baseline
    /// and no receiver antenna correction.
    #[must_use]
    pub fn new(
        epochs: &'a [Epoch],
        base_ecef_m: [f64; 3],
        ambiguity_ids: &'a [String],
        model: &'a MeasModel,
        options: FloatSolveOpts,
    ) -> Self {
        Self {
            epochs,
            base_ecef_m,
            ambiguity_ids,
            initial_baseline_m: [0.0; 3],
            model,
            options,
            receiver_antenna_corrections: None,
        }
    }

    /// Set the rover-minus-base ECEF/ITRF baseline seed, metres.
    #[must_use = "this builder consumes and returns the updated RTK float config"]
    pub fn with_initial_baseline_m(mut self, initial_baseline_m: [f64; 3]) -> Self {
        self.initial_baseline_m = initial_baseline_m;
        self
    }

    /// Set receiver antenna PCO/PCV corrections; `None` leaves them disabled.
    #[must_use = "this builder consumes and returns the updated RTK float config"]
    pub fn with_receiver_antenna_corrections(
        mut self,
        receiver_antenna_corrections: Option<&'a ReceiverAntennaCorrections>,
    ) -> Self {
        self.receiver_antenna_corrections = receiver_antenna_corrections;
        self
    }
}

/// Typed input bundle for a static residual-validated fixed RTK baseline solve.
///
/// Coordinates are Earth-fixed ECEF/ITRF metres. `base_ecef_m` is the known base
/// receiver position, and `initial_baseline_m` is the rover-minus-base baseline
/// seed `[dx, dy, dz]` in metres. Ambiguity wavelengths and offsets live in
/// [`AmbiguitySet::scale`] and are metres; fixed integer decisions are carrier
/// cycles internally and converted back to metres in the returned solution.
#[derive(Clone)]
pub struct RtkFixedConfig<'a> {
    /// Normalized double-difference epochs for the static RTK arc.
    pub epochs: &'a [Epoch],
    /// Known base-station ECEF/ITRF position, metres.
    pub base_ecef_m: [f64; 3],
    /// Ordered ambiguity ids, satellite mapping, wavelength/offset scale, and
    /// constellations to leave float.
    pub initial_ambiguities: AmbiguitySet<'a>,
    /// Rover-minus-base ECEF/ITRF baseline seed, metres.
    pub initial_baseline_m: [f64; 3],
    /// Code/phase sigmas, stochastic model, and Sagnac switch.
    pub model: &'a MeasModel,
    /// Float solve, integer search, and residual-validation controls.
    pub options: ValidatedFixedSolveOpts,
    /// Receiver antenna PCO/PCV corrections; `None` means no receiver correction.
    pub receiver_antenna_corrections: Option<&'a ReceiverAntennaCorrections>,
}

impl<'a> RtkFixedConfig<'a> {
    /// Build a fixed RTK config with a zero rover-minus-base initial baseline
    /// and no receiver antenna correction.
    #[must_use]
    pub fn new(
        epochs: &'a [Epoch],
        base_ecef_m: [f64; 3],
        initial_ambiguities: AmbiguitySet<'a>,
        model: &'a MeasModel,
        options: ValidatedFixedSolveOpts,
    ) -> Self {
        Self {
            epochs,
            base_ecef_m,
            initial_ambiguities,
            initial_baseline_m: [0.0; 3],
            model,
            options,
            receiver_antenna_corrections: None,
        }
    }

    /// Set the rover-minus-base ECEF/ITRF baseline seed, metres.
    #[must_use = "this builder consumes and returns the updated RTK fixed config"]
    pub fn with_initial_baseline_m(mut self, initial_baseline_m: [f64; 3]) -> Self {
        self.initial_baseline_m = initial_baseline_m;
        self
    }

    /// Set receiver antenna PCO/PCV corrections; `None` leaves them disabled.
    #[must_use = "this builder consumes and returns the updated RTK fixed config"]
    pub fn with_receiver_antenna_corrections(
        mut self,
        receiver_antenna_corrections: Option<&'a ReceiverAntennaCorrections>,
    ) -> Self {
        self.receiver_antenna_corrections = receiver_antenna_corrections;
        self
    }
}

/// Typed input bundle for a static multi-epoch float PPP solve.
///
/// The ephemeris source supplies satellite ECEF/ITRF positions in metres and
/// clocks in seconds. `epochs` contain ionosphere-free code and carrier-phase
/// observations in metres. `initial_state.position_m` is ECEF/ITRF metres;
/// receiver clocks, ambiguities, and zenith tropospheric delay are represented
/// in metres, matching the core PPP state vector.
#[derive(Clone)]
pub struct PppFloatConfig<'a> {
    /// Observable ephemeris source, commonly an SP3 precise product.
    pub source: &'a dyn ObservableEphemerisSource,
    /// Static PPP epochs, ordered in time.
    pub epochs: &'a [FloatEpoch],
    /// Initial receiver position, per-epoch clocks, ambiguities, and ZTD.
    pub initial_state: FloatState,
    /// Measurement weights, corrections, troposphere, and iteration controls.
    pub solve: FloatSolveConfig,
}

impl<'a> PppFloatConfig<'a> {
    /// Build a float PPP config from the complete static-arc input bundle.
    pub fn new(
        source: &'a dyn ObservableEphemerisSource,
        epochs: &'a [FloatEpoch],
        initial_state: FloatState,
        solve: FloatSolveConfig,
    ) -> Self {
        Self {
            source,
            epochs,
            initial_state,
            solve,
        }
    }
}

/// Typed input bundle for a static integer-fixed PPP solve.
///
/// The ephemeris source and epochs must describe the same static arc used for
/// the supplied float solution. Coordinates are ECEF/ITRF metres; ambiguity
/// wavelengths and offsets inside `solve.ambiguity` are metres, and fixed
/// ambiguity decisions are reported in both carrier cycles and metres.
#[derive(Clone)]
pub struct PppFixedConfig<'a> {
    /// Observable ephemeris source, commonly an SP3 precise product.
    pub source: &'a dyn ObservableEphemerisSource,
    /// Static PPP epochs, ordered in time.
    pub epochs: &'a [FloatEpoch],
    /// Float PPP solution used as the integer ambiguity-search prior.
    pub float_solution: FloatSolution,
    /// Measurement weights, corrections, troposphere, and integer controls.
    pub solve: FixedSolveConfig,
}

impl<'a> PppFixedConfig<'a> {
    /// Build a fixed PPP config from the complete static-arc input bundle.
    pub fn new(
        source: &'a dyn ObservableEphemerisSource,
        epochs: &'a [FloatEpoch],
        float_solution: FloatSolution,
        solve: FixedSolveConfig,
    ) -> Self {
        Self {
            source,
            epochs,
            float_solution,
            solve,
        }
    }
}

/// Parse an SP3-c or SP3-d byte buffer into a precise-ephemeris product.
///
/// `bytes` is the full, already-decompressed file content. Delegates to
/// [`Sp3::parse`]; malformed input is returned as [`Error::Sp3`].
///
/// ```
/// // The parser rejects malformed input with `Error::Sp3`.
/// assert!(sidereon::load_sp3(b"garbage").is_err());
/// ```
pub fn load_sp3(bytes: &[u8]) -> Result<Sp3> {
    Sp3::parse(bytes).map_err(Error::Sp3)
}

/// Parse NMEA 0183 bytes into typed sentences with non-fatal diagnostics.
pub fn parse_nmea(input: &[u8]) -> nmea::Parsed<nmea::NmeaLog> {
    nmea::parse_nmea(input)
}

/// Parse and group NMEA 0183 bytes into completed epoch snapshots.
pub fn nmea_epochs(input: &[u8]) -> (Vec<nmea::EpochSnapshot>, nmea::Diagnostics) {
    let parsed = nmea::parse_nmea(input);
    let epochs = nmea::group_epochs(&parsed.value);
    (epochs, parsed.diagnostics)
}

/// Serialize a fixed-format, checksummed GGA sentence.
pub fn write_gga(
    talker: nmea::NmeaTalker,
    gga: &nmea::Gga,
) -> std::result::Result<String, nmea::NmeaError> {
    nmea::write_gga(talker, gga)
}

/// Parse ANTEX text into receiver and satellite antenna calibrations.
///
/// Values are exposed in the core product's SI units: PCO/PCV are metres, with
/// azimuth and zenith grids in degrees. Malformed input is returned as
/// [`Error::Antex`].
pub fn parse_antex(text: &str) -> Result<Antex> {
    Antex::parse(text).map_err(Error::Antex)
}

/// Read and parse an ANTEX antenna calibration file.
///
/// Delegates to [`parse_antex`] after reading UTF-8 text from `path`.
pub fn load_antex(path: impl AsRef<Path>) -> Result<Antex> {
    let text = std::fs::read_to_string(path)?;
    parse_antex(&text)
}

/// Parse a RINEX NAV file into a queryable broadcast ephemeris store.
///
/// The store applies the core's default navigation usability policy and
/// implements [`EphemerisSource`], so it can feed [`solve_spp`].
pub fn parse_rinex_nav(text: &str) -> Result<BroadcastEphemeris> {
    BroadcastEphemeris::from_nav(text).map_err(Error::RinexNav)
}

/// Read and parse a RINEX NAV file into a queryable broadcast ephemeris store.
pub fn load_rinex_nav(path: impl AsRef<Path>) -> Result<BroadcastEphemeris> {
    let text = std::fs::read_to_string(path)?;
    parse_rinex_nav(&text)
}

/// Build an SSR correction store from framed RTCM bytes.
pub fn ssr_store_from_rtcm(
    bytes: &[u8],
    week: sidereon_core::astro::time::GnssWeekTow,
) -> Result<sidereon_core::ssr::SsrCorrectionStore> {
    let mut store = sidereon_core::ssr::SsrCorrectionStore::new();
    let mut assembler = sidereon_core::rtcm::SsrStreamAssembler::new();
    for decoded in assembler.push(bytes) {
        let message = decoded.map_err(Error::Ssr)?;
        store.ingest(&message, week).map_err(Error::Ssr)?;
    }
    Ok(store)
}

/// Parse RINEX OBS text into a typed observation product.
pub fn parse_rinex_obs(text: &str) -> Result<ObservationFile> {
    ObservationFile::parse(text).map_err(Error::RinexObs)
}

/// Read and parse a RINEX OBS file.
pub fn load_rinex_obs(path: impl AsRef<Path>) -> Result<ObservationFile> {
    let text = std::fs::read_to_string(path)?;
    parse_rinex_obs(&text)
}

/// Lint RINEX OBS text, decoding CRINEX input when needed.
pub fn lint_rinex_obs(text: &str) -> LintReport {
    sidereon_core::rinex::qc::lint_obs_text(text)
}

/// Lint RINEX NAV text.
pub fn lint_rinex_nav(text: &str) -> LintReport {
    sidereon_core::rinex::qc::lint_nav_text(text)
}

/// Repair RINEX OBS text with mechanical fixes supported by the core writer.
pub fn repair_rinex_obs(text: &str, options: &RepairOptions) -> Result<ObsRepair> {
    sidereon_core::rinex::qc::repair_obs_text(text, options).map_err(Error::RinexObs)
}

/// Repair RINEX NAV text with mechanical fixes supported by the core writer.
pub fn repair_rinex_nav(text: &str, options: &RepairOptions) -> Result<NavRepair> {
    sidereon_core::rinex::qc::repair_nav_text(text, options).map_err(Error::RinexNav)
}

/// Strictly parse RINEX clock text into satellite clock-bias series.
pub fn parse_rinex_clock(text: &str) -> Result<RinexClock> {
    RinexClock::parse(text).map_err(Error::RinexClock)
}

/// Read and strictly parse a RINEX clock file.
pub fn load_rinex_clock(path: impl AsRef<Path>) -> Result<RinexClock> {
    let text = std::fs::read_to_string(path)?;
    parse_rinex_clock(&text)
}

/// Parse RINEX clock text while skipping malformed and non-`AS` rows.
pub fn parse_rinex_clock_lossy(text: &str) -> RinexClock {
    RinexClock::parse_lossy(text)
}

/// Read and lossily parse a RINEX clock file.
pub fn load_rinex_clock_lossy(path: impl AsRef<Path>) -> Result<RinexClock> {
    let text = std::fs::read_to_string(path)?;
    Ok(parse_rinex_clock_lossy(&text))
}

/// Parse Bias-SINEX bytes into an offline bias set.
pub fn parse_bias_sinex(bytes: &[u8]) -> Result<BiasSet> {
    Ok(parse_bias_sinex_lossy(bytes)?.value)
}

/// Parse Bias-SINEX bytes and return non-fatal diagnostics with the bias set.
pub fn parse_bias_sinex_lossy(bytes: &[u8]) -> Result<BiasParsed<BiasSet>> {
    BiasSet::parse_bias_sinex(bytes).map_err(Error::Bias)
}

/// Read and parse a Bias-SINEX product. Files ending in `.gz` are decompressed.
pub fn load_bias_sinex(path: impl AsRef<Path>) -> Result<BiasSet> {
    let bytes = read_maybe_gzip(path)?;
    parse_bias_sinex(&bytes)
}

/// Read and parse a Bias-SINEX product, retaining non-fatal diagnostics.
/// Files ending in `.gz` are decompressed.
pub fn load_bias_sinex_lossy(path: impl AsRef<Path>) -> Result<BiasParsed<BiasSet>> {
    let bytes = read_maybe_gzip(path)?;
    parse_bias_sinex_lossy(&bytes)
}

/// Parse CODE DCB bytes into an offline bias set.
pub fn parse_code_dcb(bytes: &[u8], options: Option<CodeDcbOptions>) -> Result<BiasSet> {
    Ok(parse_code_dcb_lossy(bytes, options)?.value)
}

/// Parse CODE DCB bytes and return non-fatal diagnostics with the bias set.
pub fn parse_code_dcb_lossy(
    bytes: &[u8],
    options: Option<CodeDcbOptions>,
) -> Result<BiasParsed<BiasSet>> {
    BiasSet::parse_code_dcb(bytes, options).map_err(Error::Bias)
}

/// Read and parse a CODE DCB product. Files ending in `.gz` are decompressed.
pub fn load_code_dcb(path: impl AsRef<Path>, options: Option<CodeDcbOptions>) -> Result<BiasSet> {
    let bytes = read_maybe_gzip(path)?;
    parse_code_dcb(&bytes, options)
}

/// Read and parse a CODE DCB product, retaining non-fatal diagnostics.
/// Files ending in `.gz` are decompressed.
pub fn load_code_dcb_lossy(
    path: impl AsRef<Path>,
    options: Option<CodeDcbOptions>,
) -> Result<BiasParsed<BiasSet>> {
    let bytes = read_maybe_gzip(path)?;
    parse_code_dcb_lossy(&bytes, options)
}

/// Decode Compact RINEX (Hatanaka) OBS text into plain RINEX OBS text.
pub fn decode_crinex(text: &str) -> Result<String> {
    rinex::decode_crinex(text).map_err(Error::Crinex)
}

/// Encode plain RINEX OBS text into Compact RINEX (Hatanaka) text.
///
/// The lower core encoder emits a canonical CRINEX stream, so it is not
/// expected to byte-match an arbitrary `RNX2CRX` product. It does guarantee that
/// decoding the emitted CRINEX reconstructs the input RINEX observation text.
pub fn encode_crinex(text: &str) -> Result<String> {
    rinex::encode_crinex(text).map_err(Error::Crinex)
}

/// Read and decode a Compact RINEX (Hatanaka) OBS file.
pub fn load_crinex(path: impl AsRef<Path>) -> Result<String> {
    let text = std::fs::read_to_string(path)?;
    decode_crinex(&text)
}

fn read_maybe_gzip(path: impl AsRef<Path>) -> Result<Vec<u8>> {
    let path = path.as_ref();
    let bytes = std::fs::read(path)?;
    if path.extension().and_then(|ext| ext.to_str()) != Some("gz") {
        return Ok(bytes);
    }
    let mut decoder = GzDecoder::new(&bytes[..]);
    let mut decoded = Vec::new();
    decoder.read_to_end(&mut decoded)?;
    Ok(decoded)
}

/// Run single-point positioning under the public validation/orchestration
/// policy.
///
/// `eph` supplies satellite ECEF/ITRF positions in metres and satellite clocks
/// in seconds. `inputs.observations` are pseudoranges in metres, and
/// `inputs.t_rx_j2000_s` is the receive epoch in seconds since J2000 in the
/// ephemeris time scale. The SPP state uses `[x, y, z, clock]` with position in
/// ECEF/ITRF metres and receiver clock bias represented as metres internally;
/// the returned [`ReceiverSolution`] also exposes the receiver clock in seconds.
/// `with_geodetic` controls whether WGS84 latitude/longitude/height are
/// populated, and `policy` carries validation, masking, and correction behavior.
///
/// Delegates to [`sidereon_core::positioning::solve_with_policy`] and returns
/// its [`ReceiverSolution`], mapping any failure to [`Error::Spp`].
pub fn solve_spp(
    eph: &dyn EphemerisSource,
    inputs: &SolveInputs,
    with_geodetic: bool,
    policy: SolvePolicy,
) -> Result<ReceiverSolution> {
    sidereon_core::positioning::solve_with_policy(eph, inputs, with_geodetic, policy)
        .map_err(Error::Spp)
}

/// Solve a batch of independent SPP epochs against a shared ephemeris, serially.
///
/// Each element of `epochs` is one receive instant's [`SolveInputs`]; element
/// `i` of the result is [`solve_spp`] applied to `epochs[i]` with the shared
/// `eph`, `with_geodetic`, and `policy`. The serial reference the parallel
/// [`solve_spp_batch`] is proven bit-identical against.
pub fn solve_spp_batch_serial(
    eph: &dyn EphemerisSource,
    epochs: &[SolveInputs],
    with_geodetic: bool,
    policy: SolvePolicy,
) -> Vec<Result<ReceiverSolution>> {
    sidereon_core::positioning::solve_spp_batch_serial(eph, epochs, with_geodetic, policy)
        .into_iter()
        .map(|r| r.map_err(Error::Spp))
        .collect()
}

/// Solve a batch of independent SPP epochs against a shared ephemeris, fanning
/// the per-epoch solves across a rayon thread pool.
///
/// Each epoch is solved by the same single-epoch kernel as [`solve_spp`] and the
/// indexed parallel collect preserves order, so element `i` is byte-for-byte
/// identical to element `i` of [`solve_spp_batch_serial`]: epochs share only the
/// immutable `eph`/`policy`, with no cross-epoch state. The work is
/// embarrassingly parallel, so throughput scales with cores while every value
/// stays bit-exact. `eph` must be [`Sync`] to be shared across the pool; the
/// language bindings call this inside their GIL/scheduler release so the whole
/// fleet of fixes computes with no interpreter lock held.
pub fn solve_spp_batch(
    eph: &(dyn EphemerisSource + Sync),
    epochs: &[SolveInputs],
    with_geodetic: bool,
    policy: SolvePolicy,
) -> Vec<Result<ReceiverSolution>> {
    sidereon_core::positioning::solve_spp_batch_parallel(eph, epochs, with_geodetic, policy)
        .into_iter()
        .map(|r| r.map_err(Error::Spp))
        .collect()
}

/// Solve receiver ECEF velocity and clock drift from one epoch of range-rate or
/// Doppler observations.
///
/// `source` supplies satellite ECEF/ITRF state at `t_rx_j2000_s`, expressed in
/// seconds since J2000. `observations` are either range rates in metres per
/// second or Doppler values in hertz, depending on `options.observable`; Doppler
/// rows use each observation's carrier frequency in hertz. `receiver_ecef_m` is
/// the known receiver ECEF/ITRF position in metres. The returned
/// [`VelocitySolution`] reports ECEF velocity in metres per second and receiver
/// clock drift in seconds per second.
///
/// Delegates to [`sidereon_core::velocity::solve`], returning its
/// [`VelocitySolution`] and mapping any failure to [`Error::Velocity`].
pub fn solve_velocity(
    source: &dyn ObservableEphemerisSource,
    observations: &[VelocityObservation],
    receiver_ecef_m: [f64; 3],
    t_rx_j2000_s: f64,
    options: VelocitySolveOptions,
) -> Result<VelocitySolution> {
    sidereon_core::velocity::solve(source, observations, receiver_ecef_m, t_rx_j2000_s, options)
        .map_err(Error::Velocity)
}

/// Solve a static multi-epoch float RTK baseline.
///
/// Prefer this typed-config form for new Rust callers. It delegates to the
/// lower-level positional [`solve_rtk_float`] function, preserving the exact
/// core solver path and error mapping.
///
/// ```
/// use sidereon::{
///     rtk_filter::{FloatSolveOpts, MeasModel, StochasticModel},
///     RtkFloatConfig,
/// };
///
/// let epochs = Vec::new();
/// let ambiguity_ids = Vec::<String>::new();
/// let model = MeasModel {
///     code_sigma_m: 0.3,
///     phase_sigma_m: 0.003,
///     sagnac: true,
///     stochastic: StochasticModel::Rtklib,
/// };
/// let opts = FloatSolveOpts {
///     position_tol_m: 1.0e-4,
///     ambiguity_tol_m: 1.0e-4,
///     max_iterations: 1,
/// };
/// let config = RtkFloatConfig::new(&epochs, [0.0; 3], &ambiguity_ids, &model, opts);
///
/// assert!(matches!(
///     sidereon::solve_rtk_float_with(config),
///     Err(sidereon::Error::RtkFloat(_))
/// ));
/// ```
pub fn solve_rtk_float_with(config: RtkFloatConfig<'_>) -> Result<FloatBaselineSolution> {
    solve_rtk_float(
        config.epochs,
        config.base_ecef_m,
        config.ambiguity_ids,
        config.initial_baseline_m,
        config.model,
        config.options,
        config.receiver_antenna_corrections,
    )
}

/// Lower-level positional form for a static multi-epoch float RTK baseline.
///
/// New Rust callers should prefer [`solve_rtk_float_with`] with
/// [`RtkFloatConfig`] so units and frame semantics are attached to named fields.
/// `base` is the known base receiver ECEF/ITRF position in metres.
/// `initial_baseline_m` is the rover-minus-base ECEF/ITRF baseline seed in
/// metres. `epochs` contain normalized double-difference code and carrier-phase
/// rows in metres; `ambiguity_ids` names the float ambiguity state columns.
/// Receiver antenna corrections are applied only when `Some(_)`; `None` is the
/// explicit no-correction case.
///
/// This function is kept for existing bindings and delegates to
/// [`sidereon_core::rtk_filter::solve_float_baseline`], returning its
/// [`FloatBaselineSolution`] and mapping any failure to [`Error::RtkFloat`].
pub fn solve_rtk_float(
    epochs: &[Epoch],
    base: [f64; 3],
    ambiguity_ids: &[String],
    initial_baseline_m: [f64; 3],
    model: &MeasModel,
    opts: FloatSolveOpts,
    receiver_antenna_corrections: Option<&ReceiverAntennaCorrections>,
) -> Result<FloatBaselineSolution> {
    sidereon_core::rtk_filter::solve_float_baseline(
        epochs,
        base,
        ambiguity_ids,
        initial_baseline_m,
        model,
        opts,
        receiver_antenna_corrections,
    )
    .map_err(Error::RtkFloat)
}

/// Solve a static fixed RTK baseline with residual validation/FDE.
///
/// Prefer this typed-config form for new Rust callers. It delegates to the
/// lower-level positional [`solve_rtk_fixed`] function, preserving the exact
/// core solver path and error mapping.
pub fn solve_rtk_fixed_with(config: RtkFixedConfig<'_>) -> Result<ValidatedFixedBaselineSolution> {
    solve_rtk_fixed(
        config.epochs,
        config.base_ecef_m,
        config.initial_ambiguities,
        config.initial_baseline_m,
        config.model,
        config.options,
        config.receiver_antenna_corrections,
    )
}

/// Lower-level positional form for a static fixed RTK baseline with residual
/// validation/FDE.
///
/// New Rust callers should prefer [`solve_rtk_fixed_with`] with
/// [`RtkFixedConfig`] so units and frame semantics are attached to named fields.
/// `base` is the known base receiver ECEF/ITRF position in metres.
/// `initial_baseline_m` is the rover-minus-base ECEF/ITRF baseline seed in
/// metres. `initial_ambiguities` supplies ambiguity ids, satellite mapping,
/// wavelengths, and offsets for the integer search; wavelengths and offsets are
/// in metres and fixed ambiguity decisions are reported in carrier cycles and
/// metres. Receiver antenna corrections are applied only when `Some(_)`;
/// `None` is the explicit no-correction case.
///
/// This function is kept for existing bindings and delegates to
/// [`sidereon_core::rtk_filter::solve_fixed_baseline_validated`], returning its
/// [`ValidatedFixedBaselineSolution`] and mapping any failure to
/// [`Error::RtkFixed`].
pub fn solve_rtk_fixed(
    epochs: &[Epoch],
    base: [f64; 3],
    initial_ambiguities: AmbiguitySet,
    initial_baseline_m: [f64; 3],
    model: &MeasModel,
    opts: ValidatedFixedSolveOpts,
    receiver_antenna_corrections: Option<&ReceiverAntennaCorrections>,
) -> Result<ValidatedFixedBaselineSolution> {
    sidereon_core::rtk_filter::solve_fixed_baseline_validated(
        epochs,
        base,
        initial_ambiguities,
        initial_baseline_m,
        model,
        opts,
        receiver_antenna_corrections,
    )
    .map_err(Error::RtkFixed)
}

/// Solve a static multi-epoch float PPP arc.
///
/// Prefer this typed-config form for new Rust callers. It delegates to the
/// lower-level positional [`solve_ppp_float`] function, preserving the exact core
/// solver path and error mapping.
pub fn solve_ppp_float_with(config: PppFloatConfig<'_>) -> Result<FloatSolution> {
    solve_ppp_float(
        config.source,
        config.epochs,
        config.initial_state,
        config.solve,
    )
}

/// Lower-level positional form for a static multi-epoch float PPP arc.
///
/// New Rust callers should prefer [`solve_ppp_float_with`] with
/// [`PppFloatConfig`] so units and frame semantics are attached to named fields.
/// `source` supplies satellite ECEF/ITRF positions in metres and clocks in
/// seconds. `epochs` contain ionosphere-free code and carrier phase in metres.
/// `initial_state.position_m` is ECEF/ITRF metres; receiver clocks, carrier
/// ambiguities, and zenith tropospheric delay are represented in metres.
///
/// This function is kept for existing bindings and delegates to
/// [`sidereon_core::precise_positioning::solve_float_epochs`], returning its
/// [`FloatSolution`] and mapping any failure to [`Error::PppFloat`].
pub fn solve_ppp_float(
    source: &dyn ObservableEphemerisSource,
    epochs: &[FloatEpoch],
    initial_state: FloatState,
    config: FloatSolveConfig,
) -> Result<FloatSolution> {
    sidereon_core::precise_positioning::solve_float_epochs(source, epochs, initial_state, config)
        .map_err(Error::PppFloat)
}

/// Search integer ambiguities from a float PPP solution and re-solve with them
/// held fixed.
///
/// Prefer this typed-config form for new Rust callers. It delegates to the
/// lower-level positional [`solve_ppp_fixed`] function, preserving the exact core
/// solver path and error mapping.
pub fn solve_ppp_fixed_with(config: PppFixedConfig<'_>) -> Result<FixedSolution> {
    solve_ppp_fixed(
        config.source,
        config.epochs,
        config.float_solution,
        config.solve,
    )
}

/// Lower-level positional form for static integer-fixed PPP.
///
/// New Rust callers should prefer [`solve_ppp_fixed_with`] with
/// [`PppFixedConfig`] so units and frame semantics are attached to named fields.
/// `source` and `epochs` must describe the same static ECEF/ITRF arc used to
/// produce `float_solution`. Ambiguity wavelengths and offsets in `config` are
/// metres; integer decisions in the returned solution are reported in carrier
/// cycles and converted metres.
///
/// This function is kept for existing bindings and delegates to
/// [`sidereon_core::precise_positioning::solve_fixed_from_float`], returning its
/// [`FixedSolution`] and mapping any failure to [`Error::PppFixed`].
pub fn solve_ppp_fixed(
    source: &dyn ObservableEphemerisSource,
    epochs: &[FloatEpoch],
    float_solution: FloatSolution,
    config: FixedSolveConfig,
) -> Result<FixedSolution> {
    sidereon_core::precise_positioning::solve_fixed_from_float(
        source,
        epochs,
        float_solution,
        config,
    )
    .map_err(Error::PppFixed)
}

#[cfg(all(test, sidereon_repo_tests))]
mod tests {
    use super::*;
    use sidereon_core::positioning::{Corrections, KlobucharCoeffs, Observation, SurfaceMet};
    use std::collections::BTreeMap;
    use std::path::PathBuf;

    // A tiny real SP3 product: five GPS satellites at coincident positions over
    // two epochs. It parses cleanly but is geometrically degenerate, so any SPP
    // solve against it fails. Reused from the core parity fixtures.
    const DEGENERATE_SP3: &[u8] =
        include_bytes!("../../sidereon-core/tests/fixtures/sp3/degenerate_coincident_5sat.sp3");
    const ANTEX_TEXT: &str =
        include_str!("../../sidereon-core/tests/fixtures/antex/igs20_wettzell_trim.atx");
    const RINEX_NAV_TEXT: &str =
        include_str!("../../sidereon-core/tests/fixtures/nav/ESBC00DNK_R_20201770000_01D_MN.rnx");
    const RINEX_OBS_TEXT: &str = include_str!(
        "../../sidereon-core/tests/fixtures/obs/ESBC00DNK_R_20201770000_01D_30S_MO_trim.rnx"
    );
    const RINEX_CLOCK_TEXT: &str =
        include_str!("../../sidereon-core/tests/fixtures/clk/synthetic_rinex_clock.clk");
    const BIAS_BYTES: &[u8] = include_bytes!("../../sidereon-core/tests/fixtures/bias/CODE.BIA");
    const DCB_BYTES: &[u8] =
        include_bytes!("../../sidereon-core/tests/fixtures/bias/P1C1_RINEX.DCB");
    const CRINEX_TEXT: &str = include_str!(
        "../../sidereon-core/tests/fixtures/obs/ESBC00DNK_R_20201770000_01D_30S_MO_trim.crx"
    );
    const STATIONS_TLE: &str =
        include_str!("../../sidereon-core/tests/fixtures/celestrak/stations.tle");
    const REAL_SSRA02IGS0_1060_FRAME_HEX: &str =
        include_str!("../../sidereon-core/tests/fixtures/ssr/SSRA02IGS0_2026181234930_1060.hex");

    fn fixture_path(parts: &[&str]) -> PathBuf {
        let mut path = PathBuf::from(env!("CARGO_MANIFEST_DIR"));
        path.push("../sidereon-core/tests/fixtures");
        for part in parts {
            path.push(part);
        }
        path
    }

    fn station_tle(name: &str) -> tca::TcaTle<'static> {
        let mut lines = STATIONS_TLE.lines();
        while let Some(object_name) = lines.next() {
            let Some(line1) = lines.next() else {
                break;
            };
            let Some(line2) = lines.next() else {
                break;
            };
            if object_name.trim() == name {
                return tca::TcaTle::new(line1, line2);
            }
        }
        panic!("missing station TLE {name}");
    }

    fn norm3(v: [f64; 3]) -> f64 {
        (v[0] * v[0] + v[1] * v[1] + v[2] * v[2]).sqrt()
    }

    fn hex_bytes(hex: &str) -> Vec<u8> {
        let compact: String = hex.chars().filter(|c| c.is_ascii_hexdigit()).collect();
        assert_eq!(compact.len() % 2, 0);
        compact
            .as_bytes()
            .chunks_exact(2)
            .map(|chunk| {
                let hi = (chunk[0] as char).to_digit(16).unwrap();
                let lo = (chunk[1] as char).to_digit(16).unwrap();
                ((hi << 4) | lo) as u8
            })
            .collect()
    }

    fn rtk_model() -> MeasModel {
        MeasModel {
            code_sigma_m: 0.3,
            phase_sigma_m: 0.003,
            sagnac: true,
            stochastic: rtk_filter::StochasticModel::Rtklib,
        }
    }

    fn rtk_float_options() -> FloatSolveOpts {
        FloatSolveOpts {
            position_tol_m: 1.0e-4,
            ambiguity_tol_m: 1.0e-4,
            max_iterations: 1,
        }
    }

    fn rtk_fixed_options() -> rtk_filter::ValidatedFixedSolveOpts {
        rtk_filter::ValidatedFixedSolveOpts {
            float: rtk_float_options(),
            fixed: rtk_filter::FixedSolveOpts {
                position_tol_m: 1.0e-4,
                ambiguity_tol_m: 1.0e-4,
                max_iterations: 1,
                ratio_threshold: 3.0,
                partial_ambiguity_resolution: false,
                partial_min_ambiguities: 4,
            },
            residual: rtk_filter::ResidualValidationOpts {
                threshold_sigma: None,
                max_exclusions: 0,
            },
        }
    }

    fn ppp_float_solve_config() -> FloatSolveConfig {
        FloatSolveConfig {
            weights: precise_positioning::MeasurementWeights {
                code: 1.0,
                phase: 100.0,
                elevation_weighting: false,
            },
            tropo: precise_positioning::TroposphereOptions::disabled(),
            corrections: precise_positioning::RangeCorrections::disabled(),
            opts: precise_positioning::FloatSolveOptions {
                max_iterations: 1,
                position_tolerance_m: 1.0e-4,
                clock_tolerance_m: 1.0e-4,
                ambiguity_tolerance_m: 1.0e-4,
                ztd_tolerance_m: 1.0e-4,
            },
            elevation_cutoff_deg: None,
            residual_screen: false,
            estimate_residual_ionosphere: false,
        }
    }

    fn ppp_fixed_solve_config() -> FixedSolveConfig {
        let float = ppp_float_solve_config();
        FixedSolveConfig {
            weights: float.weights,
            tropo: float.tropo,
            corrections: float.corrections,
            opts: float.opts,
            elevation_cutoff_deg: None,
            ambiguity: precise_positioning::FixedAmbiguityOptions {
                wavelengths_m: BTreeMap::new(),
                offsets_m: BTreeMap::new(),
                ratio_threshold: 3.0,
            },
            estimate_residual_ionosphere: false,
        }
    }

    fn empty_ppp_state() -> FloatState {
        FloatState {
            position_m: [0.0; 3],
            clocks_m: Vec::new(),
            ambiguities_m: BTreeMap::new(),
            ztd_m: 0.0,
            tropo_gradient_north_m: 0.0,
            tropo_gradient_east_m: 0.0,
            residual_ionosphere_m: BTreeMap::new(),
        }
    }

    fn empty_ppp_float_solution() -> FloatSolution {
        FloatSolution {
            position_m: [0.0; 3],
            position_covariance: sidereon_core::dop::PositionCovariance {
                ecef_m2: [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]],
                enu_m2: [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]],
            },
            formal_position_covariance: sidereon_core::dop::PositionCovariance {
                ecef_m2: [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]],
                enu_m2: [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]],
            },
            posterior_variance_factor: 1.0,
            position_covariance_scale_factor: 1.0,
            temporal_position_covariance: sidereon_core::dop::PositionCovariance {
                ecef_m2: [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]],
                enu_m2: [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]],
            },
            temporal_position_covariance_scale_factor: 1.0,
            temporal_correlation: sidereon_core::precise_positioning::TemporalCorrelationSummary {
                lag1_autocorrelation: 0.0,
                decorrelation_time_epochs: 0.0,
                decorrelation_time_s: None,
                nominal_sample_count: 0,
                effective_sample_count: 0.0,
                variance_inflation_factor: 1.0,
                arcs_used: 0,
            },
            epoch_clocks_m: Vec::new(),
            ambiguities_m: BTreeMap::new(),
            residual_ionosphere_m: BTreeMap::new(),
            ztd_residual_m: None,
            tropo_gradient_north_m: None,
            tropo_gradient_east_m: None,
            tropo_gradient_covariance_m2: None,
            formal_tropo_gradient_covariance_m2: None,
            residuals_m: Vec::new(),
            used_sats: Vec::new(),
            iterations: 0,
            converged: false,
            status: precise_positioning::FloatStatus::MaxIterations,
            code_rms_m: 0.0,
            phase_rms_m: 0.0,
            weighted_rms_m: 0.0,
        }
    }

    #[test]
    fn load_sp3_parses_a_precise_product() {
        let sp3 = load_sp3(DEGENERATE_SP3).expect("the fixture parses");
        assert_eq!(sp3.epoch_count(), 2);
        assert_eq!(sp3.satellites().len(), 5);
    }

    #[test]
    fn load_sp3_surfaces_parse_errors() {
        let err = load_sp3(b"not an sp3 file").unwrap_err();
        assert!(matches!(err, Error::Sp3(_)));
        assert!(err.to_string().contains("SP3 parse failed"));
        // The core parse message is preserved as the error source.
        assert!(std::error::Error::source(&err).is_some());
    }

    #[test]
    fn product_ingestion_wrappers_parse_fixture_products() {
        let antex = parse_antex(ANTEX_TEXT).expect("parse ANTEX fixture");
        assert!(!antex.antennas.is_empty());
        let loaded_antex =
            load_antex(fixture_path(&["antex", "igs20_wettzell_trim.atx"])).expect("load ANTEX");
        assert_eq!(loaded_antex.antennas.len(), antex.antennas.len());

        let nav = parse_rinex_nav(RINEX_NAV_TEXT).expect("parse RINEX NAV fixture");
        assert!(!nav.records().is_empty() || !nav.glonass_records().is_empty());
        let loaded_nav =
            load_rinex_nav(fixture_path(&["nav", "ESBC00DNK_R_20201770000_01D_MN.rnx"]))
                .expect("load RINEX NAV");
        assert_eq!(loaded_nav.records().len(), nav.records().len());
        assert_eq!(
            loaded_nav.glonass_records().len(),
            nav.glonass_records().len()
        );

        let obs = parse_rinex_obs(RINEX_OBS_TEXT).expect("parse RINEX OBS fixture");
        assert!(!obs.epochs().is_empty());
        let loaded_obs = load_rinex_obs(fixture_path(&[
            "obs",
            "ESBC00DNK_R_20201770000_01D_30S_MO_trim.rnx",
        ]))
        .expect("load RINEX OBS");
        assert_eq!(loaded_obs.epochs().len(), obs.epochs().len());

        let clock = parse_rinex_clock(RINEX_CLOCK_TEXT).expect("parse RINEX clock fixture");
        assert!(!clock.series_rows().is_empty());
        let loaded_clock = load_rinex_clock(fixture_path(&["clk", "synthetic_rinex_clock.clk"]))
            .expect("load RINEX clock");
        assert_eq!(loaded_clock.series_rows().len(), clock.series_rows().len());
        let lossy_clock = parse_rinex_clock_lossy("AS malformed\n");
        assert!(lossy_clock.series_rows().is_empty());
        let loaded_lossy_clock =
            load_rinex_clock_lossy(fixture_path(&["clk", "synthetic_rinex_clock.clk"]))
                .expect("load lossy RINEX clock");
        assert_eq!(
            loaded_lossy_clock.series_rows().len(),
            clock.series_rows().len()
        );

        let bias = parse_bias_sinex(BIAS_BYTES).expect("parse Bias-SINEX fixture");
        assert_eq!(bias.records().len(), 351);
        let loaded_bias = load_bias_sinex(fixture_path(&[
            "bias",
            "COD0OPSFIN_20261330000_01D_01D_OSB.BIA.gz",
        ]))
        .expect("load gzip Bias-SINEX");
        assert!(!loaded_bias.records().is_empty());
        let lossy_bias = parse_bias_sinex_lossy(BIAS_BYTES).expect("lossy Bias-SINEX parse");
        assert_eq!(lossy_bias.value.records().len(), bias.records().len());

        let dcb = parse_code_dcb(DCB_BYTES, None).expect("parse CODE DCB fixture");
        assert_eq!(dcb.records().len(), 496);
        let loaded_dcb =
            load_code_dcb(fixture_path(&["bias", "P1C1_RINEX.DCB"]), None).expect("load CODE DCB");
        assert_eq!(loaded_dcb.records().len(), dcb.records().len());
        let lossy_dcb = load_code_dcb_lossy(fixture_path(&["bias", "P1C1_RINEX.DCB"]), None)
            .expect("load lossy CODE DCB");
        assert_eq!(lossy_dcb.value.records().len(), dcb.records().len());

        let decoded = decode_crinex(CRINEX_TEXT).expect("decode CRINEX fixture");
        assert!(decoded.contains("RINEX VERSION / TYPE"));
        let encoded = encode_crinex(&decoded).expect("encode decoded RINEX fixture");
        let round_tripped = decode_crinex(&encoded).expect("decode encoded CRINEX fixture");
        assert_eq!(round_tripped, decoded);
        let loaded_decoded = load_crinex(fixture_path(&[
            "obs",
            "ESBC00DNK_R_20201770000_01D_30S_MO_trim.crx",
        ]))
        .expect("load CRINEX");
        assert_eq!(loaded_decoded, decoded);
    }

    #[test]
    fn ssr_store_from_rtcm_ingests_real_combined_orbit_clock_frame() {
        let week = sidereon_core::astro::time::model::GnssWeekTow::new(
            sidereon_core::astro::time::model::TimeScale::Gpst,
            2425,
            344_970.0,
        )
        .expect("valid week");
        let store = ssr_store_from_rtcm(&hex_bytes(REAL_SSRA02IGS0_1060_FRAME_HEX), week)
            .expect("ingest real SSR frame");
        let sat = GnssSatelliteId::new(GnssSystem::Gps, 30).expect("valid satellite");
        let orbit = store.orbit(sat).expect("G30 orbit correction");
        let clock = store.clock(sat).expect("G30 clock correction");
        assert_eq!(orbit.iode, 90);
        assert!((orbit.radial_m + 0.0807).abs() < 1.0e-12);
        assert!((orbit.along_m + 0.2484).abs() < 1.0e-12);
        assert!((orbit.cross_m - 0.1396).abs() < 1.0e-12);
        assert!((clock.c0_m - 0.0166).abs() < 1.0e-12);
    }

    #[test]
    fn product_ingestion_wrappers_map_errors() {
        let err = match parse_rinex_nav("not a RINEX NAV file") {
            Ok(_) => panic!("invalid RINEX NAV unexpectedly parsed"),
            Err(err) => err,
        };
        assert!(matches!(err, Error::RinexNav(_)));
        assert!(std::error::Error::source(&err).is_some());

        let err = match parse_rinex_nav(
            "     4.00           NAVIGATION DATA     M                   RINEX VERSION / TYPE\n\
             XXX                                                         END OF HEADER\n\
             > EPH G01 LNAV\n",
        ) {
            Ok(_) => panic!("empty v4 EPH frame unexpectedly parsed"),
            Err(err) => err,
        };
        assert!(matches!(err, Error::RinexNav(_)));

        let err = parse_rinex_obs("not a RINEX OBS file").unwrap_err();
        assert!(matches!(err, Error::RinexObs(_)));
        assert!(std::error::Error::source(&err).is_some());

        let err = parse_rinex_clock("AS malformed").unwrap_err();
        assert!(matches!(err, Error::RinexClock(_)));
        assert!(std::error::Error::source(&err).is_some());

        let err = parse_code_dcb(b"not a DCB file", None).unwrap_err();
        assert!(matches!(err, Error::Bias(_)));
        assert!(std::error::Error::source(&err).is_some());

        let err = decode_crinex("not a CRINEX file\n").unwrap_err();
        assert!(matches!(err, Error::Crinex(_)));
        let rendered = err.to_string();
        assert!(rendered.starts_with("CRINEX decode failed:"), "{rendered}");
        assert!(!rendered.contains("SP3 parse failed"), "{rendered}");
        assert!(std::error::Error::source(&err).is_some());

        let missing = fixture_path(&["missing.nope"]);
        let err = match load_rinex_nav(missing) {
            Ok(_) => panic!("missing RINEX NAV path unexpectedly loaded"),
            Err(err) => err,
        };
        assert!(matches!(err, Error::Io(_)));
        assert!(std::error::Error::source(&err).is_some());
    }

    #[test]
    fn astro_umbrella_reexports_broader_astrodynamics_surface() {
        let budget = astro::rf::LinkBudget {
            eirp_dbw: 0.0,
            fspl_db: 165.0,
            receiver_gt_dbk: -12.0,
            other_losses_db: 3.0,
            required_cn0_dbhz: 35.0,
        };
        assert_eq!(
            astro::rf::link_margin(&budget)
                .expect("valid RF link budget")
                .to_bits(),
            13.599999999999994_f64.to_bits()
        );

        let ts =
            astro::time::TimeScales::from_utc(2000, 1, 1, 12, 0, 0.0).expect("valid UTC instant");
        assert!((ts.jd_tt - 2451545.0).abs() < 1.0e-3);

        let sun = [149_597_870.7, 0.0, 0.0];
        assert_eq!(
            astro::events::eclipse::status([-7000.0, 0.0, 0.0], sun)
                .expect("valid eclipse geometry"),
            astro::events::eclipse::EclipseStatus::Umbra
        );
        assert!(
            (astro::angles::beta_angle([1.0, 0.0, 0.0], sun).expect("valid beta geometry") - 90.0)
                .abs()
                <= 1.0e-9
        );
        let sep = astro::angles::angular_separation_coords(
            (101.287155333, -16.716115861),
            (114.825493028, 5.224993306),
        )
        .expect("valid angular separation");
        assert!((sep - 25.7013646403623).abs() <= 1.0e-9);
        let pa = astro::angles::position_angle(
            (101.287155333, -16.716115861),
            (114.825493028, 5.224993306),
        )
        .expect("valid position angle");
        let pa_diff = {
            let diff = (pa - 32.51673660099302).abs();
            diff.min(360.0 - diff)
        };
        assert!(pa_diff <= 1.0e-9);
        assert!(astro::covariance::symmetric(&[
            [1.0, 0.1, 0.2],
            [0.1, 2.0, 0.3],
            [0.2, 0.3, 3.0]
        ]));

        assert!(core::mem::size_of::<astro::bodies::SunMoon>() > 0);
        assert!(core::mem::size_of::<astro::cdm::CdmKvn>() > 0);
        assert!(core::mem::size_of::<astro::conjunction::ConjunctionState>() > 0);
        assert!(core::mem::size_of::<astro::frames::transforms::TemeStateKm>() > 0);
        assert!(core::mem::size_of::<astro::omm::Omm>() > 0);
        assert!(core::mem::size_of::<astro::tdm::Tdm>() > 0);
    }

    #[test]
    fn ground_site_sun_moon_helpers_reachable_through_facade() {
        let station = GeodeticStationKm {
            latitude_deg: 51.4769,
            longitude_deg: 0.0,
            altitude_km: 0.046,
        };
        // Solar upper transit at Greenwich on 2024-06-20 (Skyfield de421):
        // az 180.0 deg, alt 61.96 deg.
        let noon = UtcInstant::from_utc(2024, 6, 20, 12, 1, 42, 0).expect("valid UTC");
        let sun = sun_az_el(&station, noon).expect("sun geometry");
        assert!((sun.elevation_deg - 61.96).abs() < 0.5);

        // Full moon of 2024-04-23 23:49 UTC: nearly fully lit.
        let full = UtcInstant::from_utc(2024, 4, 23, 23, 49, 0, 0).expect("valid UTC");
        let illum = moon_illumination(&station, full).expect("moon illumination");
        assert!(illum.illuminated_fraction > 0.95);
        let moon = moon_az_el(&station, full).expect("moon geometry");
        assert!((350_000.0..410_000.0).contains(&moon.range_km));

        let start = UtcInstant::from_utc(2024, 4, 23, 0, 0, 0, 0).expect("valid UTC");
        let end = UtcInstant::from_utc(2024, 4, 24, 0, 0, 0, 0).expect("valid UTC");
        assert_eq!(
            find_moon_elevation_crossings(&station, start, end, MoonElevationOptions::default())
                .expect("moon crossings")
                .len(),
            2
        );
        assert_eq!(
            find_moon_transits(&station, start, end, 300.0, 1.0)
                .expect("moon transits")
                .len(),
            2
        );

        // The shared Earth-fixed topocentric primitive is exposed too.
        let (_az, el, _range) =
            itrs_to_topocentric([0.0, 0.0, 7000.0], &station).expect("topocentric");
        assert!(el.is_finite());

        let kernel = astro::Spk::from_bytes(include_bytes!(
            "../../sidereon-core/tests/fixtures/bodies/observe_de.bsp"
        ))
        .expect("fixture SPK");
        let observe_time = UtcInstant::from_utc(2024, 1, 1, 0, 0, 0, 0).expect("valid UTC");
        let mars = observe_spk_body(&station, observe_time, &kernel, 4).expect("Mars observation");
        assert!(mars.apparent.right_ascension_deg.is_finite());
        assert!(!mars.reduced);
        let target = Target::Spk {
            kernel: &kernel,
            naif_id: 4,
        };
        let same = observe(&station, observe_time, target, ObserveOptions::default())
            .expect("generic observation");
        assert_eq!(
            same.apparent.right_ascension_deg.to_bits(),
            mars.apparent.right_ascension_deg.to_bits()
        );
        let tod =
            gcrs_to_true_of_date_matrix(&observe_time.time_scales()).expect("true-of-date matrix");
        assert!(tod[0][0].is_finite());
        let gcrs_state = astro::frames::transforms::TemeStateKm {
            position_km: [7000.0, 100.0, -50.0],
            velocity_km_s: [0.0, 7.5, 0.1],
        };
        let (teme_pos, _) = gcrs_to_teme_compute(&gcrs_state, &observe_time.time_scales(), false)
            .expect("TEME inverse transform");
        assert!(teme_pos.0.is_finite());
    }

    #[test]
    fn root_geodetic_look_angle_and_doppler_helpers_reachable_through_facade() {
        let station = GroundStation {
            latitude_deg: 51.5,
            longitude_deg: -0.1,
            altitude_m: 11.0,
        };
        let datetime = UtcInstant::from_utc(2024, 1, 1, 12, 0, 0, 0).expect("valid UTC");
        let tle = station_tle("ISS (ZARYA)");
        let elements = tle::parse(tle.line1, tle.line2)
            .expect("ISS TLE parses")
            .elements
            .to_element_set()
            .expect("ISS TLE converts to SGP4 elements");
        let look = look_angle(&elements, station, datetime).expect("ISS look angle");
        assert!(look.azimuth_deg.is_finite());
        assert!((-90.0..=90.0).contains(&look.elevation_deg));
        assert!(look.range_km > 100.0);

        let satellite = sgp4::Satellite::from_tle(tle.line1, tle.line2).expect("ISS TLE parses");
        let track = ground_track(&satellite, &[datetime]).expect("ISS ground track");
        assert_eq!(track.len(), 1);
        assert!(track[0].lat_rad.is_finite());
        assert!(track[0].lon_rad.is_finite());

        let ecef = geodetic_to_itrs(51.5, -0.1, 0.011).expect("geodetic to ITRS");
        let geodetic = itrs_to_geodetic_compute(ecef.0, ecef.1, ecef.2).expect("ITRS to geodetic");
        assert!((geodetic.0 - 51.5).abs() < 1.0e-6);
        assert!((geodetic.1 + 0.1).abs() < 1.0e-6);
        let projected = geodetic_from_ecef_proj(ecef.0 * 1000.0, ecef.1 * 1000.0, ecef.2 * 1000.0)
            .expect("projected geodetic");
        assert!((projected[0] + 0.1).abs() < 1.0e-6);
        assert!((projected[1] - 51.5).abs() < 1.0e-6);

        let ts = datetime.time_scales();
        let shifted = doppler_shift(
            [3700.2112112039954, 2015.9122181206055, 5309.513078070448],
            [-3.398428894395407, 6.869656830559572, -0.239850181126689],
            40.0,
            -74.0,
            0.0,
            &ts,
            437.0e6,
        )
        .expect("Doppler shift");
        assert!(shifted.range_rate_km_s.is_finite());
        assert!(shifted.doppler_hz.is_finite());
    }

    #[test]
    fn tca_shortcut_screens_two_real_tles_over_one_day() {
        let primary_tle = station_tle("ISS (ZARYA)");
        let secondary_tle = station_tle("CSS (TIANHE)");
        let primary = sgp4::Satellite::from_tle(primary_tle.line1, primary_tle.line2)
            .expect("station TLE parses");
        let window = tca::TcaWindow::from_start_and_duration_seconds(
            primary.epoch_jd(),
            sidereon_core::constants::SECONDS_PER_DAY,
        )
        .expect("valid one-day window");
        let options = tca::TcaFinderOptions {
            coarse_step_seconds: 120.0,
            time_tolerance_seconds: 1.0e-2,
        };

        let candidates =
            tca::find_tca_candidates_between_tles(primary_tle, secondary_tle, window, options)
                .expect("real TLE TCA search succeeds");
        assert!(!candidates.is_empty());

        let best = candidates
            .iter()
            .min_by(|a, b| a.miss_distance_km.total_cmp(&b.miss_distance_km))
            .expect("candidate set is nonempty");
        assert!(best.tca_seconds_since_window_start > 0.0);
        assert!(best.tca_seconds_since_window_start < sidereon_core::constants::SECONDS_PER_DAY);
        assert!(best.miss_distance_km.is_finite());
        assert!(best.miss_distance_km > 0.0);
        assert!((norm3(best.relative_position_km) - best.miss_distance_km).abs() < 1.0e-9);
        assert!(norm3(best.relative_velocity_km_s) > 0.0);

        let secondaries = [secondary_tle];
        let threshold_km = best.miss_distance_km + 1.0;
        let serial = tca::screen_tca_candidates_from_tle_catalog_serial(
            primary_tle,
            &secondaries,
            window,
            threshold_km,
            options,
        )
        .expect("serial real TLE screening succeeds");
        let parallel = tca::screen_tca_candidates_from_tle_catalog_parallel(
            primary_tle,
            &secondaries,
            window,
            threshold_km,
            options,
        )
        .expect("parallel real TLE screening succeeds");

        assert_eq!(serial, parallel);
        assert!(!serial.is_empty());
        assert!(serial.iter().all(|hit| hit.secondary_index == 0));
        assert!(serial
            .iter()
            .all(|hit| hit.candidate.miss_distance_km <= threshold_km));

        let pc_options = tca::TcaPcOptions::with_default_covariance(
            0.020,
            astro::conjunction::PcMethod::Alfano2005,
        );
        let conjunctions = tca::find_tca_conjunctions_between_tles(
            primary_tle,
            secondary_tle,
            window,
            options,
            pc_options,
        )
        .expect("real TLE TCA Pc search succeeds");
        assert_eq!(conjunctions.len(), candidates.len());
        assert!(conjunctions.iter().all(|conjunction| {
            conjunction.collision_probability.pc.is_finite()
                && (0.0..=1.0).contains(&conjunction.collision_probability.pc)
        }));
    }

    #[test]
    fn gnss_utility_modules_are_reexported() {
        assert_eq!(
            frequencies::frequency_hz(GnssSystem::Gps, frequencies::CarrierBand::L1),
            Some(constants::F_L1_HZ)
        );
        assert_eq!(GnssSystem::Gps.as_str(), "GPS");
        assert_eq!(GnssSystem::Gps.to_string(), "GPS");
        assert_eq!(frequencies::CarrierBand::L1.as_str(), "l1");
        assert_eq!(frequencies::CarrierBand::L1.to_string(), "l1");
        assert!(geometry::visible_at_elevation_mask(5.0, 5.0));
        assert!(combinations::gamma(constants::F_L1_HZ, constants::F_L2_HZ)
            .expect("GPS L1/L2 gamma")
            .is_finite());
        assert_eq!(
            carrier_phase::geometry_free(100.0, 60.0)
                .expect("finite geometry-free combination")
                .to_bits(),
            40.0_f64.to_bits()
        );
        assert!(quality::pseudorange_variance(
            30.0,
            quality::PseudorangeVarianceOptions::default()
        )
        .expect("positive elevation variance")
        .is_finite());
        assert_eq!(
            signal::ca_code(1).expect("GPS PRN 1").len(),
            signal::CA_CODE_LENGTH
        );
        assert_eq!(
            velocity::doppler_to_range_rate(-1.0, constants::F_L1_HZ)
                .expect("valid Doppler conversion")
                .to_bits(),
            (constants::C_M_S / constants::F_L1_HZ).to_bits()
        );
        assert_eq!(navigation::lnav::PREAMBLE, 0b1000_1011);
        assert_eq!(dgnss::CodeObservation::new("G01", 1.0).satellite_id, "G01");
        assert_eq!(
            sbas::sat_to_sbas_prn(sbas::sbas_prn_to_sat(120).expect("valid augmentation PRN")),
            Some(120)
        );
        assert!(core::mem::size_of::<geometry::VisibilityOptions>() > 0);
        assert!(core::mem::size_of::<broadcast_comparison::EpochInputs>() > 0);
    }

    #[test]
    fn solve_spp_delegates_to_the_core_solver_and_maps_errors() {
        // Two observations against a four-parameter solve is under-determined,
        // so the real core solver returns an error; the wrapper maps it into
        // `Error::Spp` rather than leaking the technique-specific type.
        let sp3 = load_sp3(DEGENERATE_SP3).expect("the fixture parses");
        let sat = |prn| GnssSatelliteId::new(GnssSystem::Gps, prn).expect("valid satellite id");
        let inputs = SolveInputs {
            observations: vec![
                Observation {
                    satellite_id: sat(1),
                    pseudorange_m: 2.1e7,
                },
                Observation {
                    satellite_id: sat(2),
                    pseudorange_m: 2.1e7,
                },
            ],
            t_rx_j2000_s: 646_315_200.0,
            t_rx_second_of_day_s: 0.0,
            day_of_year: 176.0,
            initial_guess: [0.0, 0.0, 0.0, 0.0],
            corrections: Corrections::NONE,
            klobuchar: KlobucharCoeffs {
                alpha: [0.0; 4],
                beta: [0.0; 4],
            },
            beidou_klobuchar: None,
            galileo_nequick: None,
            sbas_iono: None,
            glonass_channels: std::collections::BTreeMap::new(),
            met: SurfaceMet {
                pressure_hpa: 1013.25,
                temperature_k: 288.15,
                relative_humidity: 0.5,
            },
            robust: None,
        };

        let result = solve_spp(&sp3, &inputs, false, SolvePolicy::default());
        assert!(matches!(result, Err(Error::Spp(_))), "got {result:?}");
        if let Err(err) = result {
            assert!(err.to_string().contains("SPP solve failed"));
            assert!(std::error::Error::source(&err).is_some());
        }
    }

    #[test]
    fn spp_robust_fde_driver_is_reexported_from_facade_root() {
        let sp3 = load_sp3(DEGENERATE_SP3).expect("the fixture parses");
        let sat = |prn| GnssSatelliteId::new(GnssSystem::Gps, prn).expect("valid satellite id");
        let inputs = SolveInputs {
            observations: vec![
                Observation {
                    satellite_id: sat(1),
                    pseudorange_m: 2.1e7,
                },
                Observation {
                    satellite_id: sat(2),
                    pseudorange_m: 2.1e7,
                },
            ],
            t_rx_j2000_s: 646_315_200.0,
            t_rx_second_of_day_s: 0.0,
            day_of_year: 176.0,
            initial_guess: [0.0, 0.0, 0.0, 0.0],
            corrections: Corrections::NONE,
            klobuchar: KlobucharCoeffs {
                alpha: [0.0; 4],
                beta: [0.0; 4],
            },
            beidou_klobuchar: None,
            galileo_nequick: None,
            sbas_iono: None,
            glonass_channels: std::collections::BTreeMap::new(),
            met: SurfaceMet {
                pressure_hpa: 1013.25,
                temperature_k: 288.15,
                relative_humidity: 0.5,
            },
            robust: None,
        };
        let options = quality::FdeSppOptions {
            fde: quality::FdeOptions {
                raim: quality::RaimOptions::default(),
                max_iterations: 0,
            },
            validation: quality::SolutionValidationOptions::default(),
        };

        let result = spp_robust_fde_driver(
            &sp3,
            &inputs,
            false,
            positioning::RobustConfig::default(),
            &options,
        );

        assert!(
            matches!(
                result,
                Err(quality::FdeError::Solve(quality::FdeSppError::Spp(_)))
            ),
            "got {result:?}"
        );
    }

    #[test]
    fn solve_velocity_delegates_to_core_solver_and_maps_errors() {
        let sp3 = load_sp3(DEGENERATE_SP3).expect("the fixture parses");
        let result = solve_velocity(
            &sp3,
            &[],
            [0.0; 3],
            646_315_200.0,
            VelocitySolveOptions::default(),
        );

        assert!(
            matches!(
                result,
                Err(Error::Velocity(velocity::VelocityError::NoObservations))
            ),
            "got {result:?}"
        );
        if let Err(err) = result {
            assert!(err.to_string().contains("velocity solve failed"));
            assert!(std::error::Error::source(&err).is_some());
        }
    }

    #[test]
    fn solve_rtk_float_positional_wrapper_maps_errors() {
        let epochs = Vec::new();
        let ambiguity_ids = Vec::<String>::new();
        let model = rtk_model();

        let err = solve_rtk_float(
            &epochs,
            [0.0; 3],
            &ambiguity_ids,
            [0.0; 3],
            &model,
            rtk_float_options(),
            None,
        )
        .unwrap_err();

        assert!(matches!(err, Error::RtkFloat(_)));
        assert!(err.to_string().contains("RTK float"));
        assert!(std::error::Error::source(&err).is_some());
    }

    #[test]
    fn solve_rtk_fixed_positional_wrapper_maps_errors() {
        let epochs = Vec::new();
        let ambiguity_ids = Vec::<String>::new();
        let ambiguity_satellites = BTreeMap::new();
        let wavelengths_m = BTreeMap::new();
        let offsets_m = BTreeMap::new();
        let float_only_systems = Vec::new();
        let model = rtk_model();
        let ambiguity_set = AmbiguitySet {
            ids: &ambiguity_ids,
            satellites: &ambiguity_satellites,
            scale: rtk_filter::AmbiguityScale {
                wavelengths_m: &wavelengths_m,
                offsets_m: &offsets_m,
            },
            float_only_systems: &float_only_systems,
        };

        let err = solve_rtk_fixed(
            &epochs,
            [0.0; 3],
            ambiguity_set,
            [0.0; 3],
            &model,
            rtk_fixed_options(),
            None,
        )
        .unwrap_err();

        assert!(matches!(err, Error::RtkFixed(_)));
        assert!(err.to_string().contains("fixed RTK"));
        assert!(std::error::Error::source(&err).is_some());
    }

    #[test]
    fn solve_ppp_float_positional_wrapper_maps_errors_with_fixture_source() {
        let sp3 = load_sp3(DEGENERATE_SP3).expect("the fixture parses");
        let epochs = Vec::new();

        let err = solve_ppp_float(&sp3, &epochs, empty_ppp_state(), ppp_float_solve_config())
            .unwrap_err();

        assert!(matches!(err, Error::PppFloat(_)));
        assert!(err.to_string().contains("PPP float"));
        assert!(std::error::Error::source(&err).is_some());
    }

    #[test]
    fn solve_ppp_fixed_positional_wrapper_maps_errors_with_fixture_source() {
        let sp3 = load_sp3(DEGENERATE_SP3).expect("the fixture parses");
        let epochs = Vec::new();

        let err = solve_ppp_fixed(
            &sp3,
            &epochs,
            empty_ppp_float_solution(),
            ppp_fixed_solve_config(),
        )
        .unwrap_err();

        assert!(matches!(err, Error::PppFixed(_)));
        assert!(err.to_string().contains("PPP"));
        assert!(std::error::Error::source(&err).is_some());
    }

    #[test]
    fn solve_rtk_float_with_delegates_to_positional_solver() {
        let epochs = Vec::new();
        let ambiguity_ids = Vec::new();
        let model = rtk_model();
        let config = RtkFloatConfig {
            epochs: &epochs,
            base_ecef_m: [0.0; 3],
            ambiguity_ids: &ambiguity_ids,
            initial_baseline_m: [0.0; 3],
            model: &model,
            options: rtk_float_options(),
            receiver_antenna_corrections: None,
        };

        let typed = solve_rtk_float_with(config.clone()).unwrap_err();
        let positional = solve_rtk_float(
            config.epochs,
            config.base_ecef_m,
            config.ambiguity_ids,
            config.initial_baseline_m,
            config.model,
            config.options,
            config.receiver_antenna_corrections,
        )
        .unwrap_err();

        assert!(matches!(typed, Error::RtkFloat(_)));
        assert_eq!(typed.to_string(), positional.to_string());
    }

    #[test]
    fn solve_rtk_float_with_rejects_receiver_antenna_zero_base_geometry() {
        let base = [0.0; 3];
        let baseline = [1.0, 0.0, 0.0];
        let rover = [
            base[0] + baseline[0],
            base[1] + baseline[1],
            base[2] + baseline[2],
        ];
        let g01 = [15_000_000.0, 7_000_000.0, 21_000_000.0];
        let g02 = [-12_000_000.0, 18_000_000.0, 19_000_000.0];
        let range_m = |sat: [f64; 3], recv: [f64; 3]| {
            let dx = sat[0] - recv[0];
            let dy = sat[1] - recv[1];
            let dz = sat[2] - recv[2];
            (dx * dx + dy * dy + dz * dz).sqrt()
        };
        let mk = |sat: [f64; 3], id: &str| rtk_filter::SatMeas {
            sat: id.into(),
            sd_ambiguity_id: id.into(),
            base_code_m: range_m(sat, base),
            base_phase_m: range_m(sat, base),
            rover_code_m: range_m(sat, rover),
            rover_phase_m: range_m(sat, rover),
            base_tx_pos: sat,
            rover_tx_pos: sat,
            pos: sat,
        };
        let epochs = vec![rtk_filter::Epoch {
            references: vec![mk(g01, "G01")],
            nonref: vec![mk(g02, "G02")],
            velocity_mps: None,
            dt_s: 0.0,
        }];
        let ambiguity_ids = vec!["G02".to_string()];
        let model = rtk_model();
        let cal = rtk_filter::ReceiverAntennaCalibration {
            pco_neu_m: [0.0, 0.0, 0.0],
            noazi_pcv_m: vec![(0.0, 0.0)],
            azi_pcv_m: Vec::new(),
        };
        let corrections = ReceiverAntennaCorrections {
            base: cal.clone(),
            rover: cal,
        };
        let config =
            RtkFloatConfig::new(&epochs, base, &ambiguity_ids, &model, rtk_float_options())
                .with_initial_baseline_m(baseline)
                .with_receiver_antenna_corrections(Some(&corrections));

        let err = solve_rtk_float_with(config).unwrap_err();

        assert!(matches!(
            err,
            Error::RtkFloat(rtk_filter::FloatSolveError::ReceiverAntenna(
                rtk_filter::ReceiverAntennaError::InvalidGeometry
            ))
        ));
    }

    #[test]
    fn solve_rtk_fixed_with_delegates_to_positional_solver() {
        let epochs = Vec::new();
        let ambiguity_ids = Vec::new();
        let ambiguity_satellites = BTreeMap::new();
        let wavelengths_m = BTreeMap::new();
        let offsets_m = BTreeMap::new();
        let float_only_systems = Vec::new();
        let model = rtk_model();
        let ambiguity_set = AmbiguitySet {
            ids: &ambiguity_ids,
            satellites: &ambiguity_satellites,
            scale: rtk_filter::AmbiguityScale {
                wavelengths_m: &wavelengths_m,
                offsets_m: &offsets_m,
            },
            float_only_systems: &float_only_systems,
        };
        let config = RtkFixedConfig {
            epochs: &epochs,
            base_ecef_m: [0.0; 3],
            initial_ambiguities: ambiguity_set,
            initial_baseline_m: [0.0; 3],
            model: &model,
            options: rtk_fixed_options(),
            receiver_antenna_corrections: None,
        };

        let typed = solve_rtk_fixed_with(config.clone()).unwrap_err();
        let positional = solve_rtk_fixed(
            config.epochs,
            config.base_ecef_m,
            config.initial_ambiguities,
            config.initial_baseline_m,
            config.model,
            config.options,
            config.receiver_antenna_corrections,
        )
        .unwrap_err();

        assert!(matches!(typed, Error::RtkFixed(_)));
        assert_eq!(typed.to_string(), positional.to_string());
    }

    #[test]
    fn solve_ppp_float_with_delegates_to_positional_solver() {
        let sp3 = load_sp3(DEGENERATE_SP3).expect("the fixture parses");
        let epochs = Vec::new();
        let config = PppFloatConfig {
            source: &sp3,
            epochs: &epochs,
            initial_state: empty_ppp_state(),
            solve: ppp_float_solve_config(),
        };

        let typed = solve_ppp_float_with(config.clone()).unwrap_err();
        let positional = solve_ppp_float(
            config.source,
            config.epochs,
            config.initial_state,
            config.solve,
        )
        .unwrap_err();

        assert!(matches!(typed, Error::PppFloat(_)));
        assert_eq!(typed.to_string(), positional.to_string());
    }

    #[test]
    fn solve_ppp_fixed_with_delegates_to_positional_solver() {
        let sp3 = load_sp3(DEGENERATE_SP3).expect("the fixture parses");
        let epochs = Vec::new();
        let config = PppFixedConfig {
            source: &sp3,
            epochs: &epochs,
            float_solution: empty_ppp_float_solution(),
            solve: ppp_fixed_solve_config(),
        };

        let typed = solve_ppp_fixed_with(config.clone()).unwrap_err();
        let positional = solve_ppp_fixed(
            config.source,
            config.epochs,
            config.float_solution,
            config.solve,
        )
        .unwrap_err();

        assert!(matches!(typed, Error::PppFixed(_)));
        assert_eq!(typed.to_string(), positional.to_string());
    }
}