MRTKLIB v0.6.0 Release Notes¶

Release date: 2026-03-12 Type: Feature — Unified mrtk single CLI binary Branch: feat/unified-cli

Overview¶

v0.6.0 consolidates all eight MRTKLIB console applications into a single BusyBox/Git-style binary called mrtk. Instead of building separate executables (rnx2rtkp, rtkrcv, str2str, convbin, ssr2obs, ssr2osr, recvbias, dumpcssr), CMake now produces a single mrtk binary that dispatches subcommands via argv[1].

Subcommand Mapping¶

Original App	Subcommand	Function
`rtkrcv`	`run`	`mrtk_run()`
`rnx2rtkp`	`post`	`mrtk_post()`
`str2str`	`relay`	`mrtk_relay()`
`convbin`	`convert`	`mrtk_convert()`
`ssr2obs`	`ssr2obs`	`mrtk_ssr2obs()`
`ssr2osr`	`ssr2osr`	`mrtk_ssr2osr()`
`recvbias`	`bias`	`mrtk_bias()`
`dumpcssr`	`dump`	`mrtk_dump()`

Usage Examples¶

Bash

mrtk --help              # Global help
mrtk post -k conf.toml obs.obs nav.nav   # Post-processing
mrtk run -s -o rtkrcv.toml               # Real-time positioning
mrtk relay -in ntrip://... -out file://   # Stream relay
mrtk convert raw.ubx                     # Convert to RINEX

Changes¶

Added¶

File	Description
`apps/mrtk/mrtk_main.c`	Unified CLI entry point with subcommand router and shared `showmsg`/`settspan`/`settime` implementation

Changed¶

File	Change
`apps/rnx2rtkp/rnx2rtkp.c`	`main()` → `mrtk_post()`; removed duplicate `showmsg`/`settspan`/`settime`
`apps/rtkrcv/rtkrcv.c`	`main()` → `mrtk_run()`; `static rtksvr_t svr` and `static rtcm_t rtcm[3]` (in `prstatus()`) converted to heap allocation to eliminate ~1.9 GB BSS
`apps/str2str/str2str.c`	`main()` → `mrtk_relay()`
`apps/convbin/convbin.c`	`main()` → `mrtk_convert()`; removed duplicate `showmsg`
`apps/ssr2obs/ssr2obs.c`	`main()` → `mrtk_ssr2obs()`
`apps/ssr2osr/ssr2osr.c`	`main()` → `mrtk_ssr2osr()`; removed duplicate `showmsg`/`settspan`/`settime`
`apps/recvbias/recvbias.c`	`main()` → `mrtk_bias()`; `static rtcm_t rtcm` converted to heap allocation (~314 MB BSS eliminated)
`apps/dumpcssr/dumpcssr.c`	`main()` → `mrtk_dump()`; removed duplicate `showmsg`/`settspan`/`settime`
`src/pos/mrtk_postpos.c`	`static rtcm_t rtcm` and `static rtcm_t l6e` converted to heap allocation (~628 MB BSS eliminated)
`CMakeLists.txt`	8 `add_executable()` targets replaced by single `add_executable(mrtk ...)`; all CTest commands updated; version bumped to 0.6.0
`tests/cmake/run_rtkrcv_test.sh`	Added `$2` (subcmd) argument to support `mrtk run` invocation

Removed¶

8 individual build targets (rnx2rtkp, rtkrcv, str2str, convbin, ssr2obs, ssr2osr, recvbias, dumpcssr)
Duplicate showmsg/settspan/settime definitions from 4 app source files (consolidated into mrtk_main.c)

BSS Reduction¶

Converting large static variables to heap allocation dramatically reduced the binary's data segment:

Variable	File	BSS Size	Fix
`static rtksvr_t svr`	`rtkrcv.c`	972 MB	`calloc` in `mrtk_run()`
`static rtcm_t rtcm[3]`	`rtkrcv.c:prstatus()`	943 MB	lazy `calloc`
`static rtcm_t rtcm`	`recvbias.c`	314 MB	`calloc` in `mrtk_bias()`
`static rtcm_t rtcm`	`mrtk_postpos.c`	314 MB	`calloc` on use
`static rtcm_t l6e`	`mrtk_postpos.c`	314 MB	`calloc` on use

__DATA segment: 3,032 MB → 34 MB (99% reduction)

Scope¶

12 files changed, +234 / -254 lines (net -20 lines).

Test Results¶

All 62 tests pass (59 non-RT + 3 RT), no regressions.