From 2c0bcbff97b13fd4e1df24d931d65ef67412b721 Mon Sep 17 00:00:00 2001
From: k <k@example.com>
Date: Thu, 26 Jan 2023 20:38:12 +0100
Subject: [PATCH 01/14] Add Dockerfile

---
 .github/workflows/docker.yaml | 59 +++++++++++++++++++++++++++++++++++
 Dockerfile                    | 11 +++++++
 requirements.in               |  7 +++++
 requirements.txt              | 22 +++++++++++++
 4 files changed, 99 insertions(+)
 create mode 100644 .github/workflows/docker.yaml
 create mode 100644 Dockerfile
 create mode 100644 requirements.in
 create mode 100644 requirements.txt

diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml
new file mode 100644
index 0000000..b8de647
--- /dev/null
+++ b/.github/workflows/docker.yaml
@@ -0,0 +1,59 @@
+name: docker build
+
+on:
+  push:
+    branches:
+      - "**"
+    tags:
+      - "**"
+  pull_request_target:
+
+permissions:
+  contents: read
+  packages: write
+
+jobs:
+  docker:
+    name: Publish Docker image
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Docker meta
+        id: docker_meta
+        uses: docker/metadata-action@v3.2.0
+        with:
+          images: ghcr.io/${{ github.repository }}
+          flavor: |
+            latest=false
+          tags: |
+            type=ref,event=pr
+            type=ref,event=branch
+            type=sha,prefix=,format=long,event=branch
+            type=ref,event=tag
+            type=sha,prefix=,format=long,event=tag
+            type=raw,value=latest,enable=${{ endsWith(github.ref, github.event.repository.default_branch) }}
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v1
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v1
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      - name: Cache Docker layers
+        uses: actions/cache@v2.1.5
+        with:
+          path: /tmp/.buildx-cache
+          key: ${{ runner.os }}-buildx-${{ github.sha }}
+          restore-keys: |
+            ${{ runner.os }}-buildx-
+      - name: Build and push
+        uses: docker/build-push-action@v2
+        with:
+          context: .
+          push: true
+          tags: ${{ steps.docker_meta.outputs.tags }}
+          labels: ${{ steps.docker_meta.outputs.labels }}
+          cache-from: type=local,src=/tmp/.buildx-cache
+          cache-to: type=local,dest=/tmp/.buildx-cache,mode=max
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..1a4568a
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,11 @@
+FROM python:3.11-slim
+WORKDIR /app
+COPY requirements.txt .
+RUN apt-get update && \
+    apt-get -y install gcc && \
+    pip install --no-cache-dir -r requirements.txt && \
+    rm -rf /var/lib/apt/lists/*
+COPY . .
+RUN python3 setup.py build_ext --inplace
+COPY . .
+ENTRYPOINT [ "python", "/app/mlat-server"]
diff --git a/requirements.in b/requirements.in
new file mode 100644
index 0000000..39ba290
--- /dev/null
+++ b/requirements.in
@@ -0,0 +1,7 @@
+numpy
+scipy
+pykalman
+python-graph-core
+uvloop
+ujson
+Cython
diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000..3965ac8
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1,22 @@
+#
+# This file is autogenerated by pip-compile with python 3.10
+# To update, run:
+#
+#    pip-compile
+#
+cython==0.29.33
+    # via -r requirements.in
+numpy==1.24.1
+    # via
+    #   -r requirements.in
+    #   scipy
+pykalman==0.9.5
+    # via -r requirements.in
+python-graph-core==1.8.2
+    # via -r requirements.in
+scipy==1.10.0
+    # via -r requirements.in
+ujson==5.7.0
+    # via -r requirements.in
+uvloop==0.17.0
+    # via -r requirements.in

From ae6d099b267219511743e700b57314c0c6960229 Mon Sep 17 00:00:00 2001
From: Katia <katia@linux.com>
Date: Fri, 3 Mar 2023 14:53:08 +0100
Subject: [PATCH 02/14] Fix AGPL link

---
 mlat/config.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mlat/config.py b/mlat/config.py
index 1eb2e2a..bb54c20 100644
--- a/mlat/config.py
+++ b/mlat/config.py
@@ -29,7 +29,7 @@
 #
 # Please remember that this needs to be _the code that the server is running_.
 #
-AGPL_SERVER_CODE_URL = "https://github.com/wiedehopf/mlat-server"
+AGPL_SERVER_CODE_URL = "https://github.com/katlol/mlat-server"
 
 # minimum NUCp value to accept as a sync message
 MIN_NUC = 6

From ba465c5f39a9fba4dcebe6fd882d448d2e3e726c Mon Sep 17 00:00:00 2001
From: Katia <katia@linux.com>
Date: Thu, 13 Apr 2023 01:18:21 +0200
Subject: [PATCH 03/14] Update requirements

---
 requirements.txt | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/requirements.txt b/requirements.txt
index 3965ac8..7c0cef9 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,12 +1,12 @@
 #
-# This file is autogenerated by pip-compile with python 3.10
-# To update, run:
+# This file is autogenerated by pip-compile with Python 3.11
+# by the following command:
 #
 #    pip-compile
 #
-cython==0.29.33
+cython==0.29.34
     # via -r requirements.in
-numpy==1.24.1
+numpy==1.24.2
     # via
     #   -r requirements.in
     #   scipy
@@ -14,7 +14,7 @@ pykalman==0.9.5
     # via -r requirements.in
 python-graph-core==1.8.2
     # via -r requirements.in
-scipy==1.10.0
+scipy==1.10.1
     # via -r requirements.in
 ujson==5.7.0
     # via -r requirements.in

From e4986fad7e97e1aaf6090a24df8cf9abe4726ac2 Mon Sep 17 00:00:00 2001
From: Katia Esposito <1695469+katlol@users.noreply.github.com>
Date: Sat, 15 Apr 2023 13:14:23 +0200
Subject: [PATCH 04/14] Update docker.yaml

---
 .github/workflows/docker.yaml | 89 ++++++++++++++++++-----------------
 1 file changed, 47 insertions(+), 42 deletions(-)

diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml
index b8de647..2411332 100644
--- a/.github/workflows/docker.yaml
+++ b/.github/workflows/docker.yaml
@@ -3,9 +3,9 @@ name: docker build
 on:
   push:
     branches:
-      - "**"
+    - "**"
     tags:
-      - "**"
+    - "**"
   pull_request_target:
 
 permissions:
@@ -17,43 +17,48 @@ jobs:
     name: Publish Docker image
     runs-on: ubuntu-latest
     steps:
-      - name: Checkout
-        uses: actions/checkout@v2
-      - name: Docker meta
-        id: docker_meta
-        uses: docker/metadata-action@v3.2.0
-        with:
-          images: ghcr.io/${{ github.repository }}
-          flavor: |
-            latest=false
-          tags: |
-            type=ref,event=pr
-            type=ref,event=branch
-            type=sha,prefix=,format=long,event=branch
-            type=ref,event=tag
-            type=sha,prefix=,format=long,event=tag
-            type=raw,value=latest,enable=${{ endsWith(github.ref, github.event.repository.default_branch) }}
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v1
-      - name: Login to GitHub Container Registry
-        uses: docker/login-action@v1
-        with:
-          registry: ghcr.io
-          username: ${{ github.repository_owner }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-      - name: Cache Docker layers
-        uses: actions/cache@v2.1.5
-        with:
-          path: /tmp/.buildx-cache
-          key: ${{ runner.os }}-buildx-${{ github.sha }}
-          restore-keys: |
-            ${{ runner.os }}-buildx-
-      - name: Build and push
-        uses: docker/build-push-action@v2
-        with:
-          context: .
-          push: true
-          tags: ${{ steps.docker_meta.outputs.tags }}
-          labels: ${{ steps.docker_meta.outputs.labels }}
-          cache-from: type=local,src=/tmp/.buildx-cache
-          cache-to: type=local,dest=/tmp/.buildx-cache,mode=max
+    - name: Checkout
+      uses: actions/checkout@v2
+    - name: Set up QEMU
+      uses: docker/setup-qemu-action@v2
+    - name: Docker meta
+      id: meta
+      uses: docker/metadata-action@v4
+      with:
+        images: ghcr.io/${{ github.repository }}
+        tags: |
+          type=schedule
+          type=ref,event=branch
+          type=ref,event=pr
+          type=semver,pattern={{version}}
+          type=semver,pattern={{major}}.{{minor}}
+          type=semver,pattern={{major}}
+          type=sha,prefix=,format=long,event=tag
+          type=sha
+          type=raw,value=latest,enable=${{ endsWith(github.ref, github.event.repository.default_branch) }}
+          type=raw,value=${{ github.ref_name }}-${{ steps.vars.outputs.short_sha }}-${{ steps.vars.outputs.timestamp }},enable=${{ endsWith(github.ref, github.event.repository.default_branch) }}
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v1
+    - name: Login to GitHub Container Registry
+      uses: docker/login-action@v1
+      with:
+        registry: ghcr.io
+        username: ${{ github.repository_owner }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+    - name: Cache Docker layers
+      uses: actions/cache@v2.1.5
+      with:
+        path: /tmp/.buildx-cache
+        key: ${{ runner.os }}-buildx-${{ github.sha }}
+        restore-keys: |
+          ${{ runner.os }}-buildx-
+    - name: Build and push
+      uses: docker/build-push-action@v3
+      with:
+        context: .
+        push: true
+        tags: ${{ steps.docker_meta.outputs.tags }}
+        labels: ${{ steps.docker_meta.outputs.labels }}
+        cache-from: type=local,src=/tmp/.buildx-cache
+        cache-to: type=local,dest=/tmp/.buildx-cache,mode=max
+        platforms: linux/amd64,linux/arm64,linux/arm/v7

From 1c826ba1b231b4a7b1eacd6b7e36e8c9f055a8ba Mon Sep 17 00:00:00 2001
From: Katia Esposito <1695469+katlol@users.noreply.github.com>
Date: Sat, 15 Apr 2023 13:20:47 +0200
Subject: [PATCH 05/14] Update docker.yaml

---
 .github/workflows/docker.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml
index 2411332..d46bc10 100644
--- a/.github/workflows/docker.yaml
+++ b/.github/workflows/docker.yaml
@@ -22,7 +22,7 @@ jobs:
     - name: Set up QEMU
       uses: docker/setup-qemu-action@v2
     - name: Docker meta
-      id: meta
+      id: docker_meta
       uses: docker/metadata-action@v4
       with:
         images: ghcr.io/${{ github.repository }}

From 3b070fff0b7980dc9a1874562bf5be4493edfe60 Mon Sep 17 00:00:00 2001
From: Katia Esposito <1695469+katlol@users.noreply.github.com>
Date: Sat, 15 Apr 2023 14:46:43 +0200
Subject: [PATCH 06/14] Update docker.yaml

---
 .github/workflows/docker.yaml | 39 ++++++++++++++++++++++-------------
 1 file changed, 25 insertions(+), 14 deletions(-)

diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml
index d46bc10..4edede3 100644
--- a/.github/workflows/docker.yaml
+++ b/.github/workflows/docker.yaml
@@ -1,12 +1,16 @@
 name: docker build
 
 on:
+  schedule:
+    - cron: "0 10 * * *"
   push:
     branches:
     - "**"
     tags:
-    - "**"
-  pull_request_target:
+    - "v*.*.*"
+  pull_request:
+    branches:
+    - "master"
 
 permissions:
   contents: read
@@ -14,13 +18,17 @@ permissions:
 
 jobs:
   docker:
-    name: Publish Docker image
     runs-on: ubuntu-latest
+    permissions:
+      packages: write
     steps:
+    - name: Set variables useful for later
+      id: useful_vars
+      run: |-
+        echo "::set-output name=timestamp::$(date +%s)"
+        echo "::set-output name=short_sha::${GITHUB_SHA::8}"
     - name: Checkout
-      uses: actions/checkout@v2
-    - name: Set up QEMU
-      uses: docker/setup-qemu-action@v2
+      uses: actions/checkout@v3
     - name: Docker meta
       id: docker_meta
       uses: docker/metadata-action@v4
@@ -36,29 +44,32 @@ jobs:
           type=sha,prefix=,format=long,event=tag
           type=sha
           type=raw,value=latest,enable=${{ endsWith(github.ref, github.event.repository.default_branch) }}
-          type=raw,value=${{ github.ref_name }}-${{ steps.vars.outputs.short_sha }}-${{ steps.vars.outputs.timestamp }},enable=${{ endsWith(github.ref, github.event.repository.default_branch) }}
+          type=raw,value=${{ github.ref_name }}-${{ steps.useful_vars.outputs.short_sha }}-${{ steps.useful_vars.outputs.timestamp }},enable=${{ endsWith(github.ref, github.event.repository.default_branch) }}
+    - name: Set up QEMU
+      uses: docker/setup-qemu-action@v2
     - name: Set up Docker Buildx
-      uses: docker/setup-buildx-action@v1
-    - name: Login to GitHub Container Registry
-      uses: docker/login-action@v1
+      uses: docker/setup-buildx-action@v2
+    - name: Login to GHCR
+      if: github.event_name != 'pull_request'
+      uses: docker/login-action@v2
       with:
         registry: ghcr.io
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
     - name: Cache Docker layers
-      uses: actions/cache@v2.1.5
+      uses: actions/cache@v3
       with:
         path: /tmp/.buildx-cache
         key: ${{ runner.os }}-buildx-${{ github.sha }}
         restore-keys: |
           ${{ runner.os }}-buildx-
     - name: Build and push
-      uses: docker/build-push-action@v3
+      uses: docker/build-push-action@v4
       with:
         context: .
-        push: true
+        push: ${{ github.event_name != 'pull_request' }}
         tags: ${{ steps.docker_meta.outputs.tags }}
         labels: ${{ steps.docker_meta.outputs.labels }}
+        platforms: linux/amd64,linux/arm64
         cache-from: type=local,src=/tmp/.buildx-cache
         cache-to: type=local,dest=/tmp/.buildx-cache,mode=max
-        platforms: linux/amd64,linux/arm64,linux/arm/v7

From 3f77ec229f190b9c62682462265886fe266e27dd Mon Sep 17 00:00:00 2001
From: Katia <katia@linux.com>
Date: Tue, 4 Jul 2023 21:57:01 +0200
Subject: [PATCH 07/14] coordinator: Do not write coordinates to file

---
 mlat/coordinator.py | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/mlat/coordinator.py b/mlat/coordinator.py
index 7d59205..1bda767 100644
--- a/mlat/coordinator.py
+++ b/mlat/coordinator.py
@@ -421,10 +421,6 @@ def _write_state(self):
                 'user': r.user,
                 'uid': r.uid,
                 'uuid': r.uuid,
-                'coords': "{0:.6f},{1:.6f}".format(r.position_llh[0], r.position_llh[1]),
-                'lat': r.position_llh[0],
-                'lon': r.position_llh[1],
-                'alt': r.position_llh[2],
                 'privacy': r.privacy,
                 'connection': r.connection_info,
                 'source_ip': r.connection.source_ip,

From a4825ae779509e147f7836d13d750f0361c0f49c Mon Sep 17 00:00:00 2001
From: Katia <katia@linux.com>
Date: Tue, 4 Jul 2023 21:59:40 +0200
Subject: [PATCH 08/14] Update requirements

---
 requirements.txt | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/requirements.txt b/requirements.txt
index 7c0cef9..56ecd0a 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -4,9 +4,9 @@
 #
 #    pip-compile
 #
-cython==0.29.34
+cython==0.29.36
     # via -r requirements.in
-numpy==1.24.2
+numpy==1.25.0
     # via
     #   -r requirements.in
     #   scipy
@@ -14,9 +14,9 @@ pykalman==0.9.5
     # via -r requirements.in
 python-graph-core==1.8.2
     # via -r requirements.in
-scipy==1.10.1
+scipy==1.11.1
     # via -r requirements.in
-ujson==5.7.0
+ujson==5.8.0
     # via -r requirements.in
 uvloop==0.17.0
     # via -r requirements.in

From 494c2daf50a22d58454dcd633d9f9df6df7709cf Mon Sep 17 00:00:00 2001
From: Katia <katia@linux.com>
Date: Fri, 14 Jul 2023 12:09:31 +0200
Subject: [PATCH 09/14] Update requirements

---
 requirements.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/requirements.txt b/requirements.txt
index 56ecd0a..c61544c 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -6,7 +6,7 @@
 #
 cython==0.29.36
     # via -r requirements.in
-numpy==1.25.0
+numpy==1.25.1
     # via
     #   -r requirements.in
     #   scipy

From 5b2de2d6ec7237f623118eb14e497d152f07c528 Mon Sep 17 00:00:00 2001
From: Katia <katia@linux.com>
Date: Thu, 20 Jul 2023 21:08:12 +0200
Subject: [PATCH 10/14] Upgrade to cython 3.0.0

---
 requirements.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/requirements.txt b/requirements.txt
index c61544c..7258bd7 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -4,7 +4,7 @@
 #
 #    pip-compile
 #
-cython==0.29.36
+cython==3.0.0
     # via -r requirements.in
 numpy==1.25.1
     # via

From b5a00415f5c32ca874e8f624296189aac31598e9 Mon Sep 17 00:00:00 2001
From: Katia <katia@linux.com>
Date: Thu, 20 Jul 2023 21:43:09 +0200
Subject: [PATCH 11/14] jsonclient: Debug handle_messages error

---
 mlat/jsonclient.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/mlat/jsonclient.py b/mlat/jsonclient.py
index 2a47097..2e6db9f 100644
--- a/mlat/jsonclient.py
+++ b/mlat/jsonclient.py
@@ -375,6 +375,10 @@ async def process_handshake(self):
                 if self.compress is None:
                     raise ValueError('No mutually usable compression type')
 
+                if self.handle_messages is None:
+                    print(hs)  # FIXME temporary debugging
+                    raise ValueError('No handle_messages method. Why??')
+
                 lat = float(hs['lat'])
                 if lat < -90 or lat > 90:
                     raise ValueError('invalid latitude, should be -90 .. 90')

From 9a6a5d60fd26bbc4bf25d262861923910a8df820 Mon Sep 17 00:00:00 2001
From: Katia <katia@linux.com>
Date: Thu, 20 Jul 2023 21:59:59 +0200
Subject: [PATCH 12/14] jsonclient: Handle handshake compress dependency

---
 mlat/jsonclient.py | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/mlat/jsonclient.py b/mlat/jsonclient.py
index 2e6db9f..8f85a89 100644
--- a/mlat/jsonclient.py
+++ b/mlat/jsonclient.py
@@ -340,6 +340,13 @@ async def process_handshake(self):
                 if hs['version'] != 2 and hs['version'] != 3:
                     raise ValueError('Unsupported version in handshake')
 
+                # If no compress key in hs, then the client is using an old version. see ya later!
+                if 'compress' not in hs.keys():
+                    raise ValueError('Unsupported: Missing compression')
+                # also, check against self._compression_methods
+                if not set(hs['compress']).issubset(set([c[0] for c in self._compression_methods])):
+                    raise ValueError('Unsupported compression type, got: ' + str(hs))
+
                 user = str(hs['user'])
                 uuid = hs.get('uuid')
 
@@ -376,7 +383,7 @@ async def process_handshake(self):
                     raise ValueError('No mutually usable compression type')
 
                 if self.handle_messages is None:
-                    print(hs)  # FIXME temporary debugging
+                    print(hs)  # FIXME temp
                     raise ValueError('No handle_messages method. Why??')
 
                 lat = float(hs['lat'])

From b8d37b8ccf133b77b394feeacba9226b9648bec2 Mon Sep 17 00:00:00 2001
From: Katia <katia@linux.com>
Date: Thu, 20 Jul 2023 22:29:18 +0200
Subject: [PATCH 13/14] prometheus: Write to /run/mlat-server/metrics

---
 mlat/coordinator.py | 36 ++++++++++++++++++------------------
 1 file changed, 18 insertions(+), 18 deletions(-)

diff --git a/mlat/coordinator.py b/mlat/coordinator.py
index 1bda767..65bd283 100644
--- a/mlat/coordinator.py
+++ b/mlat/coordinator.py
@@ -478,24 +478,24 @@ def _write_state(self):
         cpu_time_us_per_sec = round((cpu_time - self.last_cpu_time) * (1e6 / 15))
         self.last_cpu_time = cpu_time
         try:
-            with open('/run/node_exporter/mlat-server.prom', 'w', encoding='utf-8') as f:
-                out = ''
-                out += 'mlat_server_cpu_ppm ' + str(cpu_time_us_per_sec) + '\n'
-                out += 'mlat_server_receivers ' + str(len(self.receivers)) + '\n'
-                out += 'mlat_server_ac_mlat ' + str(ac_count_mlat) + '\n'
-                out += 'mlat_server_ac_sync ' + str(ac_count_sync) + '\n'
-                out += 'mlat_server_ac_total ' + str(len(self.tracker.aircraft)) + '\n'
-                out += 'mlat_server_outlier_ppm ' + "{0:.0f}".format(total_outlier_percent * 1000) + '\n'
-                out += 'mlat_server_sync_points ' + "{0:.0f}".format(self.stats_sync_points / self.main_interval) + '\n'
-                out += 'mlat_server_sync_msgs ' + "{0:.0f}".format(self.stats_sync_msgs / self.main_interval) + '\n'
-                out += 'mlat_server_mlat_msgs ' + "{0:.0f}".format(self.stats_mlat_msgs / self.main_interval) + '\n'
-                out += 'mlat_server_valid_groups ' + "{0:.0f}".format(self.stats_valid_groups / self.main_interval) + '\n'
-                out += 'mlat_server_normalize_called ' + "{0:.0f}".format(self.stats_normalize / self.main_interval) + '\n'
-                out += 'mlat_server_solve_attempt ' + "{0:.0f}".format(self.stats_solve_attempt / self.main_interval) + '\n'
-                out += 'mlat_server_solve_success ' + "{0:.0f}".format(self.stats_solve_success / self.main_interval) + '\n'
-                out += 'mlat_server_solve_used ' + "{0:.0f}".format(self.stats_solve_used / self.main_interval) + '\n'
-
-                f.write(out)
+            out = [
+                'mlat_server_cpu_ppm ' + str(cpu_time_us_per_sec) + '\n',
+                'mlat_server_receivers ' + str(len(self.receivers)) + '\n',
+                'mlat_server_ac_mlat ' + str(ac_count_mlat) + '\n',
+                'mlat_server_ac_sync ' + str(ac_count_sync) + '\n',
+                'mlat_server_ac_total ' + str(len(self.tracker.aircraft)) + '\n',
+                'mlat_server_outlier_ppm ' + "{0:.0f}".format(total_outlier_percent * 1000) + '\n',
+                'mlat_server_sync_points ' + "{0:.0f}".format(self.stats_sync_points / self.main_interval) + '\n',
+                'mlat_server_sync_msgs ' + "{0:.0f}".format(self.stats_sync_msgs / self.main_interval) + '\n',
+                'mlat_server_mlat_msgs ' + "{0:.0f}".format(self.stats_mlat_msgs / self.main_interval) + '\n',
+                'mlat_server_valid_groups ' + "{0:.0f}".format(self.stats_valid_groups / self.main_interval) + '\n',
+                'mlat_server_normalize_called ' + "{0:.0f}".format(self.stats_normalize / self.main_interval) + '\n',
+                'mlat_server_solve_attempt ' + "{0:.0f}".format(self.stats_solve_attempt / self.main_interval) + '\n',
+                'mlat_server_solve_success ' + "{0:.0f}".format(self.stats_solve_success / self.main_interval) + '\n',
+                'mlat_server_solve_used ' + "{0:.0f}".format(self.stats_solve_used / self.main_interval) + '\n',
+            ]
+            with open('/run/mlat-server/metrics', 'w', encoding='utf-8') as f:
+                f.writelines(out)
         except OSError:
             pass
         except:

From 9f903e426a0af9c5e44ce39067a9d0a54c3ceb05 Mon Sep 17 00:00:00 2001
From: Katia Esposito <katia@duck.com>
Date: Fri, 28 Jul 2023 00:12:16 +0200
Subject: [PATCH 14/14] Update solver.py

---
 mlat/solver.py | 20 +++++++++++---------
 1 file changed, 11 insertions(+), 9 deletions(-)

diff --git a/mlat/solver.py b/mlat/solver.py
index d0870c7..58791b6 100644
--- a/mlat/solver.py
+++ b/mlat/solver.py
@@ -28,6 +28,7 @@
 
 from mlat import geodesy, constants, profile
 from mlat import config
+import numpy as np
 
 # The core of it all. Not very big, is it?
 # (Admittedly the entire least-squares solver is hidden within scipy..)
@@ -36,7 +37,7 @@
 
 
 def _residuals(x_guess, pseudorange_data, altitude, altitude_error):
-    """Return an array of residuals for a position guess at x_guess versus
+    """Return the sum of squared residuals for a position guess at x_guess versus
     actual measurements pseudorange_data and altitude."""
 
     (*position_guess, offset) = x_guess
@@ -53,7 +54,8 @@ def _residuals(x_guess, pseudorange_data, altitude, altitude_error):
         _, _, altitude_guess = geodesy.ecef2llh(position_guess)
         res.append((altitude - altitude_guess) / altitude_error)
 
-    return res
+    # return the sum of squared residuals
+    return np.sum(np.array(res)**2)
 
 
 @profile.trackcpu
@@ -91,19 +93,19 @@ def solve(measurements, altitude, altitude_error, initial_guess):
                          math.sqrt(variance) * constants.Cair)
                         for receiver, timestamp, variance in measurements]
     x_guess = [initial_guess[0], initial_guess[1], initial_guess[2], 0.0]
-    x_est, cov_x, infodict, mesg, ler = scipy.optimize.leastsq(
+    res = scipy.optimize.minimize(
         _residuals,
         x_guess,
         args=(pseudorange_data, altitude, altitude_error),
-        full_output=True,
-        maxfev=config.SOLVER_MAXFEV)
+        method='BFGS',
+        options={'maxiter': config.SOLVER_MAXFEV})
 
-    if ler in (1, 2, 3, 4):
+    if res.success:
         #glogger.info("solver success: {0} {1}".format(ler, mesg))
 
         # Solver found a result. Validate that it makes
         # some sort of physical sense.
-        (*position_est, offset_est) = x_est
+        (*position_est, offset_est) = res.x
 
         if offset_est < 0 or offset_est > 500e3:
             #glogger.info("solver: bad offset: {0}".formaT(offset_est))
@@ -118,10 +120,10 @@ def solve(measurements, altitude, altitude_error, initial_guess):
         #        #glogger.info("solver: bad range: {0}".format(d))
         #        return None
 
-        if cov_x is None:
+        if res.hess_inv is None:
             return position_est, None
         else:
-            return position_est, cov_x[0:3, 0:3]
+            return position_est, res.hess_inv[0:3, 0:3]
 
     else:
         # Solver failed