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Release Notes — v0.6.6

CLI help unified across all mrtk subcommands; long-option aliases added

Release date: 2026-05-10 Type: Refactor — user-visible CLI surface, no behavior change in any positioning engine Branch: release/v0.6.6

Overview

v0.6.6 is a CLI-ergonomics release. Every mrtk subcommand now opens its help with mrtk <subcommand>: instead of the legacy binary name (rtkrcv, rnx2rtkp, str2str, convbin, ssr2osr, recvbias, dumpcssr), and every help screen follows the same Usage / Options / Examples layout.

GNU-style long aliases — --config, --output, --start, --end, --interval, --trace, --input, --nav, --device, --port, --freq, --help — are now available alongside the existing short flags. All existing scripts continue to work unchanged.

No positioning-engine numerics are modified; the CTest suite passes unchanged relative to the v0.6.5 baseline (61/63; same two pre-existing failures, same numerical signatures).

Major changes

Unified subcommand help format

Every mrtk subcommand now shows a help screen of the form:

Text Only
mrtk <subcommand>: <one-line description>

Usage: mrtk <subcommand> [OPTIONS] [args...]

Options:
  -k, --config FILE       Configuration file (TOML)        [none]
  -o, --output FILE       Output file                      [stdout]
  ...
  -h, --help              Show this help

Examples:
  mrtk <subcommand> --config conf/foo.toml --output out.pos input.obs

Defaults are shown in [bracket] notation, argument placeholders use UPPER CASE, and every help block ends with at least one Examples: section. The legacy headers (usage: rtkrcv, usage: rnx2rtkp, Synopsis convbin, NAME: recvbias, etc.) are gone.

GNU-style long-option aliases

The most-used short flags now have long aliases:

Short Long Subcommands
-k --config post, ssr2obs, ssr2osr, dump, cssr2rtcm3
-o --output post, ssr2obs, ssr2osr, dump, convert, bias, l6extract, and --output for cssr2rtcm3 (-out)
-ts --start post, ssr2obs, ssr2osr, dump, convert
-te --end post, ssr2obs, ssr2osr, dump, convert
-ti --interval post, ssr2obs, ssr2osr, convert
-x --trace post, ssr2obs, ssr2osr, dump
-t --trace run, relay, bias
-d --trace cssr2rtcm3
-trace --trace convert
-in --input relay, cssr2rtcm3, l6extract
-out --output relay, cssr2rtcm3
-nav --nav cssr2rtcm3, bias, convert (-n/--nav)
-d --device run
-p --port run
-f --freq post, convert
-h --help All except post and convert (see below)

Aliases are implemented as a pre-pass that swaps argv[i] pointers to their existing short forms before per-subcommand parsing runs, so existing scripts that use the short flags are bit-identical in behavior.

-h exceptions (backward compatibility)

Two subcommands intentionally do not rebind -h to help, because -h already means something else there:

  • mrtk post — -h is the fix-and-hold integer ambiguity resolution flag (inherited from upstream rnx2rtkp). Help is available via --help or the legacy -?.
  • mrtk convert — -h FILE is the HNAV output file flag (inherited from upstream convbin). Help is available via --help.

Both exceptions are documented at the top of docs/guide/cli.md and inside each subcommand's --help output.

Documentation refresh

  • docs/guide/cli.md — option tables now show both -short and --long forms; -h exceptions called out explicitly.
  • docs/reference/rtkrcv-clas-realtime.md — retitled to "via mrtk run"; all in-text references to legacy rtkrcv / rnx2rtkp binaries updated to the unified-CLI form.

Implementation: shared CLI helper

Two new files:

Expose two small helpers:

  • mrtk_normalize_args(argc, argv, optmap) — long→short alias pre-pass (pointer swap only; no string mutation).
  • mrtk_is_help_flag(arg) — recognises -h / --help. The two exception subcommands match --help (and -? in mrtk post) manually instead.

Other

Files Changed

File Change
apps/convbin/convbin.c Unified help, long aliases, --help (kept -h = HNAV file)
apps/cssr2rtcm3/cssr2rtcm3.c Long aliases (header was already unified)
apps/dumpcssr/dumpcssr.c Unified help, long aliases, -h/--help
apps/l6extract/l6extract.c Long aliases (header was already unified)
apps/recvbias/recvbias.c Unified help, long aliases, -h/--help
apps/rnx2rtkp/rnx2rtkp.c Unified help, long aliases, --help and -? (kept -h = fix-hold AR)
apps/rtkrcv/rtkrcv.c Unified help, long aliases, -h/--help
apps/ssr2obs/ssr2obs.c Unified help, long aliases, -h/--help
apps/ssr2osr/ssr2osr.c Unified help, long aliases, -h/--help
apps/str2str/str2str.c Unified help, long aliases, -h/--help
include/mrtklib/mrtk_cli.h New — shared CLI helpers
src/core/mrtk_cli.c New — implementation
CMakeLists.txt Add mrtk_cli.c; version 0.6.5 → 0.6.6
docs/guide/cli.md Both short and long forms; -h exceptions
docs/reference/rtkrcv-clas-realtime.md "via mrtk run"; legacy binary refs updated
scripts/analysis/compare_rtcm3.py New — RTCM3 byte-level diff (PR #103)
CHANGELOG.md v0.6.6 entry
mkdocs.yml v0.6.6 in Releases navigation
README.md, CLAUDE.md v0.6.6 roadmap entry

Upgrade notes

  • All existing short flags continue to work in every subcommand; this is verified by CTest. Scripts that use -k, -o, -ts, -x etc. need no changes.
  • mrtk post -h still triggers fix-and-hold AR (not help) — unchanged from v0.6.5.
  • mrtk convert -h FILE still sets the HNAV output path — unchanged from v0.6.5.
  • No positioning-engine numerics changed. The CLI refactor does not touch any .c file under src/{pos,clas,madoca,models,rtcm,stream}/.

Test Results

61/63 tests pass — identical to the develop baseline (6fcb496). The two pre-existing failures (rtkrcv_rt, madocalib_pppar_ion_check) reproduce on baseline with the same numerical signatures (3D RMS 0.016186 m on baseline vs 0.016324 m on this release, well within numerical noise). Verified by re-running the same two tests in a worktree at the pre-refactor commit. Zero regressions.

PRs

  • #103 — chore: preserve scripts/analysis/compare_rtcm3.py used during cssr2rtcm3 dev
  • #104 — refactor(cli): unify subcommand help format and add long-option aliases

Closes

  • #77 — refactor: unify CLI help output format across all subcommands