# Path: mlat/geodesy.py
# WGS84_A = 6378137.0
# WGS84_F = 1.0/298.257223563
# WGS84_B = WGS84_A * (1 - WGS84_F)
# WGS84_ECC_SQ = 1 - WGS84_B * WGS84_B / (WGS84_A * WGS84_A)
# WGS84_ECC = math.sqrt(WGS84_ECC_SQ)
# SPHERICAL_R = 6371e3
#     N = WGS84_A / math.sqrt(1 - WGS84_ECC_SQ * math.sin(lat)**2)
# def llh2ecef(llh):
# def ecef2llh(ecef):
# def greatcircle(p0, p1):
# def ecef_distance(p0, p1):
# 
# Path: mlat/profile.py
# def trackcpu(f, **kwargs):
# def dump_cpu_profiles(tofile=None):
# def trackcpu(f, name=None, **kwargs):
#     def cpu_measurement_wrapper(*args, **kwargs):
# def dump_cpu_profiles(tofile=sys.stderr):
# 
# Path: mlat/server/config.py
# MIN_NUC = 6
# MAX_RANGE = 500e3
# MAX_INTERMESSAGE_RANGE = 10e3
# MAX_ALT = 50000 * constants.FTOM
# MLAT_DELAY = 2.5
# SOLVER_MAXFEV = 50


import logging
import math
import scipy.optimize
from mlat import geodesy, constants, profile
from mlat.server import config
# License, or (at your option) any later version.

# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU Affero General Public License for more details.

# You should have received a copy of the GNU Affero General Public License
# along with this program.  If not, see <http://www.gnu.org/licenses/>.

"""
The bit where all the magic happens: take a list of receive timestamps and
produce a position.
"""




# The core of it all. Not very big, is it?
# (Admittedly the entire least-squares solver is hidden within scipy..)

glogger = logging.getLogger("solver")


def _residuals(x_guess, pseudorange_data, altitude, altitude_error):
    """Return an array of residuals for a position guess at x_guess versus
    actual measurements pseudorange_data and altitude."""

    (*position_guess, offset) = x_guess


# Path: mlat/geodesy.py
# WGS84_A = 6378137.0
# WGS84_F = 1.0/298.257223563
# WGS84_B = WGS84_A * (1 - WGS84_F)
# WGS84_ECC_SQ = 1 - WGS84_B * WGS84_B / (WGS84_A * WGS84_A)
# WGS84_ECC = math.sqrt(WGS84_ECC_SQ)
# SPHERICAL_R = 6371e3
#     N = WGS84_A / math.sqrt(1 - WGS84_ECC_SQ * math.sin(lat)**2)
# def llh2ecef(llh):
# def ecef2llh(ecef):
# def greatcircle(p0, p1):
# def ecef_distance(p0, p1):
# 
# Path: mlat/profile.py
# def trackcpu(f, **kwargs):
# def dump_cpu_profiles(tofile=None):
# def trackcpu(f, name=None, **kwargs):
#     def cpu_measurement_wrapper(*args, **kwargs):
# def dump_cpu_profiles(tofile=sys.stderr):
# 
# Path: mlat/server/config.py
# MIN_NUC = 6
# MAX_RANGE = 500e3
# MAX_INTERMESSAGE_RANGE = 10e3
# MAX_ALT = 50000 * constants.FTOM
# MLAT_DELAY = 2.5
# SOLVER_MAXFEV = 50


# Path: mlat/server/solver.py
import logging
import math
import scipy.optimize
from mlat import geodesy, constants, profile
from mlat.server import config

# License, or (at your option) any later version.

# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU Affero General Public License for more details.

# You should have received a copy of the GNU Affero General Public License
# along with this program.  If not, see <http://www.gnu.org/licenses/>.

"""
The bit where all the magic happens: take a list of receive timestamps and
produce a position.
"""




# The core of it all. Not very big, is it?
# (Admittedly the entire least-squares solver is hidden within scipy..)

glogger = logging.getLogger("solver")


def _residuals(x_guess, pseudorange_data, altitude, altitude_error):
    """Return an array of residuals for a position guess at x_guess versus
    actual measurements pseudorange_data and altitude."""

    (*position_guess, offset) = x_guess


    res = []