MRTKLIB v0.5.0 Release Notes¶

Release date: 2026-03-10 Type: Infrastructure (TOML configuration migration) Branch: feat/toml-config

Overview¶

v0.5.0 replaces the legacy RTKLIB key=value .conf configuration format with TOML v1.0. All 19 configuration files have been converted, the C loader auto-detects .toml files, and the legacy .conf files are removed.

The migration is zero-regression: all 59 tests pass with bit-identical positioning output.

Highlights¶

• TOML v1.0 parser — tomlc99 (MIT, C99) vendored at src/core/tomlc99/. No external dependency required.
• Semantic grouping — Options are organised by function ([positioning], [ambiguity_resolution], [kalman_filter], …) instead of the legacy Windows-GUI-derived pos1-, pos2-, stats- prefixes.
• Python converter — scripts/tools/conf2toml.py converts any existing .conf file to .toml with full enum resolution and rtkrcv stream support.
• Backward compatible loader — loadopts() auto-detects file extension; .toml dispatches to the new TOML loader, other extensions use the legacy parser.
• 19 TOML configs — claslib (9), madocalib (3), malib (2), benchmark (5).

TOML Section Structure¶

Legacy flat keys are mapped to semantic TOML sections:

Example: Before and After¶

Legacy .conf¶

pos1-posmode       =ppp-rtk
pos1-frequency     =l1+2+5
pos1-soltype       =forward
pos2-armode        =continuous
pos2-arthres       =3
stats-eratio1      =300
ant1-anttype       =AOAD/M_T
out-solformat      =nmea

TOML .toml¶

[positioning]
mode = "ppp-rtk"
frequency = "l1+2+5"
solution_type = "forward"

[ambiguity_resolution]
mode = "continuous"
ratio_threshold = 3.0

[kalman_filter]
carrier_to_code_ratio_L1 = 300.0

[antenna.rover]
type = "AOAD/M_T"

[output]
solution_format = "nmea"

Architecture¶

C Loader (src/core/mrtk_toml.c)¶

The TOML loader maintains a mapping table (toml_map_t[]) that associates each TOML path (e.g., "positioning", "mode") with the legacy option name (e.g., "pos1-posmode"). For each mapping entry:

1. navigate_table() walks the TOML tree to the target section
2. toml_val_to_str() reads the TOML value (string/bool/int/double/array) as a C string
3. searchopt() + str2opt() apply the value through the existing option infrastructure

This design ensures zero changes to the positioning engine — the TOML loader is purely a configuration front-end.

Python Converter (scripts/tools/conf2toml.py)¶

Usage: python scripts/tools/conf2toml.py [conf_files...]
       python scripts/tools/conf2toml.py conf/**/*.conf   # batch

Features: - 195-entry mapping table (sysopts + rtkrcv stream/console keys) - Enum resolution: bare integers → named strings (e.g., 3 → "solid+otl-clasgrid+pole") - Stream key pattern matching (inpstr, outstr, logstr, cmdfile) - Console and server misc key support

Auto-detection in loadopts()¶

ext = strrchr(file, '.');
if (ext && strcmp(ext, ".toml") == 0) {
    return loadopts_toml(file, opts);
}
// else: legacy parser

Verification¶

• Bit-identical output: CLAS PPP-RTK (7,160-line NMEA) produces 0 diff between .conf and .toml runs.
• 59/59 tests pass: 56 non-realtime + 3 realtime (MADOCA, CLAS 1ch, CLAS 2ch).
• No mathematical changes: The TOML loader produces identical opt_t values as the legacy parser.

Files Changed (52 files, +6,732 / −2,382)¶

Test Suite (59 tests)¶