Complete RETINASolver integration with comprehensive testing

.env.example

@@ -16,6 +16,11 @@ ELLIPSOID_N_SAMPLES=60
 ELLIPSOID_THRESHOLD=500
 ELLIPSOID_N_DISPLAY=50
 
+# RETINASolver Configuration
+RETINA_SOLVER_MAX_ITERATIONS=100
+RETINA_SOLVER_CONVERGENCE_THRESHOLD=1e-6
+RETINA_SOLVER_PATH=/app/RETINAsolver
+
 # Map Configuration
 MAP_LATITUDE=-34.9286
 MAP_LONGITUDE=138.5999
@@ -46,10 +51,10 @@ TRACKER_MAX_MISSES_TO_DELETE=5
 TRACKER_MIN_HITS_TO_CONFIRM=2
 # Gating threshold for associating detections to tracks (meters)
 TRACKER_GATING_EUCLIDEAN_THRESHOLD_M=10000.0
-# Initial position uncertainty in ECEF (meters, comma-separated)
-TRACKER_INITIAL_POS_UNCERTAINTY_ECEF_M=500.0,500.0,500.0
-# Initial velocity uncertainty in ECEF (meters/sec, comma-separated)
-TRACKER_INITIAL_VEL_UNCERTAINTY_ECEF_MPS=100.0,100.0,100.0
+# Initial position uncertainty in ENU (meters, comma-separated)
+TRACKER_INITIAL_POS_UNCERTAINTY_ENU_M=500.0,500.0,500.0
+# Initial velocity uncertainty in ENU (meters/sec, comma-separated)
+TRACKER_INITIAL_VEL_UNCERTAINTY_ENU_MPS=100.0,100.0,100.0
 # Default time step for tracker (seconds)
 TRACKER_DT_DEFAULT_S=1.0
 

README.md

@@ -25,6 +25,37 @@ cp .env.example .env  # Create and edit your .env file
 sudo docker compose up -d —build
 ```
 
+### Testing
+
+#### Unit Tests
+```bash
+# Run tests locally
+cd 3lips
+./run_tests.sh
+
+# Run tests in container
+docker exec -it 3lips-event python -m pytest test/
+```
+
+#### Integration Tests
+The system includes comprehensive integration tests for RETINASolver functionality:
+
+```bash
+# Start full test environment with synthetic data
+docker compose -f tests/docker-compose.retina.yml up -d
+
+# Verify all services are running
+./tests/verify-retina-services.sh
+
+# Run integration tests using Claude Code with Puppeteer MCP
+# Load and run: tests/retina-solver-test-suite.js
+```
+
+Test coverage includes:
+- **UI Integration**: RETINASolver dropdown selection and form submission
+- **Pipeline Integration**: Data flow from synthetic ADS-B through RETINASolver
+- **End-to-End**: Complete aircraft tracking and visualization
+
 ~~The API front-end is available at [http://localhost:49156](http://localhost:49156).~~
 
 ### Environment Variables
@@ -43,6 +74,9 @@ The following environment variables can be configured:
 #### Localisation Configuration
 - `ELLIPSE_N_SAMPLES`, `ELLIPSE_THRESHOLD`, `ELLIPSE_N_DISPLAY` - Ellipse sampling parameters
 - `ELLIPSOID_N_SAMPLES`, `ELLIPSOID_THRESHOLD`, `ELLIPSOID_N_DISPLAY` - Ellipsoid sampling parameters
+- `RETINA_SOLVER_MAX_ITERATIONS` - Maximum iterations for RETINASolver optimization (default: 100)
+- `RETINA_SOLVER_CONVERGENCE_THRESHOLD` - Convergence threshold for optimization (default: 1e-6)
+- `RETINA_SOLVER_PATH` - Path to RETINASolver module (default: /app/RETINAsolver)
 
 #### ADSB Configuration
 - `ADSB_T_DELETE` - Time to delete ADSB data
@@ -65,6 +99,12 @@ The target localisation uses 1 of the following algorithms:
 
 - **Spherical intersection** a closed form solution which applies when a common receiver or transmitter are used. As described in [Two Methods for Target Localization in Multistatic Passive Radar](https://ieeexplore.ieee.org/document/6129656).
 
+- **RETINA Solver** uses Levenberg-Marquardt optimization for TDOA/FDOA localization. This advanced algorithm:
+  - Generates intelligent initial position guesses based on detection geometry
+  - Applies least squares optimization to solve target positions from bistatic range and Doppler measurements
+  - Handles 3 or more radar detections for improved accuracy
+  - Provides robust error handling for non-converging cases
+
 The system architecture is as follows:
 
 - The API server and HTML pages are served through a [Flask](http://github.com/pallets/flask) in Python.

api/api.py

@@ -70,6 +70,7 @@
     {"name": "Ellipsoid Parametric (Mean)", "id": "ellipsoid-parametric-mean"},
     {"name": "Ellipsoid Parametric (Min)", "id": "ellipsoid-parametric-min"},
     {"name": "Spherical Intersection", "id": "spherical-intersection"},
+    {"name": "RETINA Solver", "id": "retina-solver"},
 ]
 
 adsbs = [
@@ -171,6 +172,7 @@ def api():
         return reply
     except Exception as e:
         import traceback
+
         error_trace = traceback.format_exc()
         print(f"Exception occurred: {e}", flush=True)
         print(f"Traceback: {error_trace}", flush=True)

docker-compose-e2e-test.yml

@@ -0,0 +1,67 @@
+
+version: '3.8'
+
+networks:
+  3lips:
+    driver: bridge
+  retina-network:
+    external: true
+    name: retina-network
+
+services:
+  # Synthetic ADS-B data source
+  synthetic-adsb:
+    build:
+      context: ../synthetic-adsb
+      dockerfile: Dockerfile
+    image: synthetic-adsb
+    ports:
+      - "5001:5001"
+    networks:
+      - retina-network
+      - 3lips
+    container_name: synthetic-adsb-test
+    environment:
+      - PYTHONUNBUFFERED=1
+      - TRANSMITTER_LAT=-34.9286
+      - TRANSMITTER_LON=138.5999
+      - RADAR1_LAT=-34.9000
+      - RADAR1_LON=138.6000
+      - RADAR2_LAT=-34.9500
+      - RADAR2_LON=138.6000
+    volumes:
+      - ../synthetic-adsb:/app
+    command: ["python", "server.py"]
+
+  # 3lips API with RETINASolver
+  api:
+    extends:
+      file: docker-compose.yml
+      service: api
+    environment:
+      - FLASK_ENV=development
+      - FLASK_DEBUG=1
+      - LOCALISATION_ALGORITHM=${LOCALISATION_ALGORITHM:-retina-solver}
+      - ADSB_URL=http://synthetic-adsb-test:5001
+    depends_on:
+      - event
+      - synthetic-adsb
+
+  # Event processor with RETINASolver integration
+  event:
+    extends:
+      file: docker-compose.yml 
+      service: event
+    environment:
+      - TRACKER_VERBOSE=true
+      - LOCALISATION_ALGORITHM=${LOCALISATION_ALGORITHM:-retina-solver}
+      - ADSB_URL=http://synthetic-adsb-test:5001
+      - SYNTHETIC_RADAR_URLS=http://synthetic-adsb-test:5001/radar1,http://synthetic-adsb-test:5001/radar2,http://synthetic-adsb-test:5001/radar3
+    depends_on:
+      - synthetic-adsb
+
+  # Cesium visualization
+  cesium-apache:
+    extends:
+      file: docker-compose.yml
+      service: cesium-apache

docker-compose.dev.yml

@@ -37,6 +37,7 @@ services:
       # Enhanced hot-reloading for development
       - ./event:/app/event:ro
       - ./event/algorithm:/app/event/algorithm:ro
+      - ../RETINAsolver:/app/RETINAsolver
     environment:
       - TRACKER_VERBOSE=true
       - PYTHONUNBUFFERED=1

docker-compose.yml

@@ -39,6 +39,7 @@ services:
       - ./common:/app/common
       - ./test:/app/test
       - ./save:/app/save
+      - ../RETINAsolver:/app/RETINAsolver
     container_name: 3lips-event
     env_file:
       - .env

event/algorithm/associator/AdsbAssociator.py

@@ -39,6 +39,7 @@ def process(self, radar_list, radar_data, timestamp):
             if valid_config and valid_detection:
                 # get URL for adsb2truth
                 url = self.generate_api_url(radar, radar_data[radar])
+                print(f"🔗 Generated URL: {url}")
 
                 # get ADSB detections
                 try:
@@ -82,7 +83,7 @@ def process_1_radar(self, radar, radar_detections, adsb_detections, timestamp, f
         @return dict: Associated detections.
         """
         assoc_detections = {}
-        distance_window = 10
+        distance_window = 100
 
         for aircraft in adsb_detections:
             if "delay" in radar_detections:
@@ -116,12 +117,15 @@ def process_1_radar(self, radar, radar_detections, adsb_detections, timestamp, f
                         radar_dopplers,
                     )
                     if distance < distance_window:
+                        print(f"✅ ASSOCIATION SUCCESS: {aircraft} on {radar}, distance={distance:.3f}")
                         assoc_detections[aircraft] = {
                             "radar": radar,
                             "delay": closest_point[0],
                             "doppler": closest_point[1],
                             "timestamp": adsb_detections[aircraft]["timestamp"],
                         }
+                    else:
+                        print(f"❌ ASSOCIATION FAIL: {aircraft} on {radar}, distance={distance:.3f} > {distance_window}")
 
         return assoc_detections
 
@@ -141,6 +145,13 @@ def generate_api_url(self, radar, radar_data):
         fc = radar_data["config"]["capture"]["fc"]
 
         adsb = radar_data["config"]["truth"]["adsb"]["tar1090"]
+
+        # Translate localhost URLs to container names for adsb2dd
+        original_adsb = str(adsb)
+        adsb = str(adsb).replace("localhost:5001", "synthetic-adsb-test:5001")
+        adsb = str(adsb).replace("//localhost:5001", "//synthetic-adsb-test:5001")
+        if original_adsb != adsb:
+            print(f"📡 Translated ADS-B URL: {original_adsb} → {adsb}")
 
         api_url = os.environ.get("ADSB2DD_API_URL", "http://adsb2dd.30hours.dev/api/dd")
         if not api_url.startswith("http://") and not api_url.startswith("https://"):