lifemaps/qt-migration-legatus
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Adds immediate migration results in progress

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torsten committed 2026-08-19 11:18:24 +02:00
1 parent 8453e104c5
commit 3bb6e89496
2102 files changed
+17482 -15071
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qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/TmsIfAdapter/src/dispatchers/report_cbit_status.cpp
+1 -1
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@@ -31,7 +31,7 @@ void Dispatcher::ReportCBitStatus(const std::string &KeyId, const M_BuiltInTest:
{
if (IsRemoved)
{
DEBUG_LOG() << "isRemoved";
DEBUG_LOG(m_logger) << "isRemoved";
return;
}
qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/TmsIfAdapter/src/dispatchers/report_cbit_status.h
+1
View File
@@ -25,6 +25,7 @@ public:
Dispatcher();
void ReportCBitStatus(const std::string &KeyId, const M_BuiltInTest::BitStatusType &status, bool IsRemoved) override;
private:
NGL::INGLLogger &m_logger;
};
}
}
qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/TmsIfAdapter/src/dispatchers/report_device_status.cpp
+5 -5
View File
@@ -37,23 +37,23 @@ Dispatcher::Dispatcher()
void Dispatcher::ReportDeviceStatus(M_Device::DeviceStatusType const& status, bool IsRemoved)
{
DEBUG_LOG() << "start";
DEBUG_LOG(m_logger) << "start";
if (IsRemoved)
{
DEBUG_LOG() << "isRemoved";
DEBUG_LOG(m_logger) << "isRemoved";
return;
}
if (status.OperationStatus.Mode.empty())
{
DEBUG_LOG() << "no mode!";
DEBUG_LOG(m_logger) << "no mode!";
return;
}
if (status.OperationStatus.Mode.front().EnumeratedValue.empty())
{
DEBUG_LOG() << "no enum value in mode!";
DEBUG_LOG(m_logger) << "no enum value in mode!";
return;
}
@@ -62,7 +62,7 @@ void Dispatcher::ReportDeviceStatus(M_Device::DeviceStatusType const& status, bo
Message msg;
msg.Status = operationModeStateKindFromTms(val);
DEBUG_LOG() << "dispatch!";
DEBUG_LOG(m_logger) << "dispatch!";
dispatch(msg);
}
qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/TmsIfAdapter/src/dispatchers/report_device_status.h
+1
View File
@@ -26,6 +26,7 @@ public:
Dispatcher();
void ReportDeviceStatus(M_Device::DeviceStatusType const& status, bool IsRemoved) override;
private:
NGL::INGLLogger &m_logger;
};
}
}
qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/TmsIfAdapter/src/dispatchers/report_mission_status.cpp
+5 -5
View File
@@ -47,19 +47,19 @@ void Dispatcher::ReportMissionStatus(M_MissionCtrl::MissionStatusType const& Mis
{
if (IsRemoved)
{
DEBUG_LOG() << "isRemoved";
DEBUG_LOG(m_logger) << "isRemoved";
return;
}
if (MissionStatus.CurrentAction.CurrentTask.EnumeratedValue.empty())
{
DEBUG_LOG() << "MissionStatus.CurrentAction.CurrentTask.EnumeratedValue empty";
DEBUG_LOG(m_logger) << "MissionStatus.CurrentAction.CurrentTask.EnumeratedValue empty";
return;
}
if (!MissionStatus.CurrentAction.CurrentTask.TextualValue.empty())
{
DEBUG_LOG() << "text: " << QString::fromStdString(MissionStatus.CurrentAction.CurrentTask.TextualValue.front());
DEBUG_LOG(m_logger) << "text: " << QString::fromStdString(MissionStatus.CurrentAction.CurrentTask.TextualValue.front());
}
const Task currentTask = taskFromTms(MissionStatus.CurrentAction.CurrentTask.EnumeratedValue.front());
@@ -81,7 +81,7 @@ void Dispatcher::ReportMissionStatus(M_MissionCtrl::MissionStatusType const& Mis
}
std::string missionName = MissionStatus.CurrentMissionName;
DEBUG_LOG() << "missionName before: " << missionName;
DEBUG_LOG(m_logger) << "missionName before: " << missionName;
if (missionName.empty())
{
for (const auto &additionalInfo : std::as_const(MissionStatus.CurrentAction.CurrentTask.AdditionalInfo))
@@ -93,7 +93,7 @@ void Dispatcher::ReportMissionStatus(M_MissionCtrl::MissionStatusType const& Mis
}
}
}
DEBUG_LOG() << "missionName after: " << missionName;
DEBUG_LOG(m_logger) << "missionName after: " << missionName;
dispatch({ missionName, currentTask, currentlyAllowedTasks, {} });
}
qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/TmsIfAdapter/src/dispatchers/report_mission_status.h
+1
View File
@@ -24,6 +24,7 @@ public:
Dispatcher();
void ReportMissionStatus(M_MissionCtrl::MissionStatusType const& MissionStatus, bool IsRemoved) override;
private:
NGL::INGLLogger &m_logger;
};
}
}
qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/TmsIfAdapter/src/dispatchers/report_point.cpp
+3 -3
View File
@@ -17,7 +17,7 @@ Dispatcher::Dispatcher()
void Dispatcher::ReportPoint(const M_Common::ObjectIdType &KeyId, const M_ObjectManager::PointObjectType &, bool IsRemoved)
{
DEBUG_LOG() << "start";
DEBUG_LOG(m_logger) << "start";
Message msg;
@@ -25,13 +25,13 @@ void Dispatcher::ReportPoint(const M_Common::ObjectIdType &KeyId, const M_Object
msg.uasId = std::stoi(KeyId);
}catch(...)
{
ERROR_LOG() << "KeyId not an int !";
ERROR_LOG(m_logger) << "KeyId not an int !";
return;
}
msg.isRemoved = IsRemoved;
DEBUG_LOG() << "dispatch!";
DEBUG_LOG(m_logger) << "dispatch!";
dispatch(msg);
}
qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/TmsIfAdapter/src/dispatchers/report_point.h
+1
View File
@@ -23,6 +23,7 @@ public:
Dispatcher();
void ReportPoint(const M_Common::ObjectIdType &KeyId, const M_ObjectManager::PointObjectType &Obj, bool IsRemoved) override;
private:
NGL::INGLLogger &m_logger;
};
}
}
qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/TmsIfAdapter/src/dispatchers/report_positions.cpp
+6 -6
View File
@@ -19,14 +19,14 @@ void Dispatcher::ReportPositions(const std::string &KeyId, const M_Common::Posit
{
if (IsRemoved)
{
DEBUG_LOG() << "isRemoved";
DEBUG_LOG(m_logger) << "isRemoved";
return;
}
if (KeyId != "UTM_GLOBAL_POSITION" && KeyId != "CURRENT_AIRFRAME_RAW" && KeyId != "CURRENT_AIRFRAME")
{
DEBUG_LOG() << "KeyId unwanted (is '" << QString::fromStdString(KeyId) << "')";
DEBUG_LOG(m_logger) << "KeyId unwanted (is '" << QString::fromStdString(KeyId) << "')";
return;
}
@@ -34,7 +34,7 @@ void Dispatcher::ReportPositions(const std::string &KeyId, const M_Common::Posit
if (PositionList.empty())
{
DEBUG_LOG() << "PositionList is empty";
DEBUG_LOG(m_logger) << "PositionList is empty";
return;
}
@@ -42,7 +42,7 @@ void Dispatcher::ReportPositions(const std::string &KeyId, const M_Common::Posit
if (pos.Ellipsoidal.empty())
{
DEBUG_LOG() << "PositionList.Ellipsoidal is empty";
DEBUG_LOG(m_logger) << "PositionList.Ellipsoidal is empty";
return;
}
@@ -50,7 +50,7 @@ void Dispatcher::ReportPositions(const std::string &KeyId, const M_Common::Posit
if (elip.Altitude.empty())
{
DEBUG_LOG() << "PositionList.Ellipsoidal.Altitude is empty";
DEBUG_LOG(m_logger) << "PositionList.Ellipsoidal.Altitude is empty";
return;
}
@@ -58,7 +58,7 @@ void Dispatcher::ReportPositions(const std::string &KeyId, const M_Common::Posit
if (pos.Timestamp.empty())
{
DEBUG_LOG() << "PositionList[0].Timestamp is empty";
DEBUG_LOG(m_logger) << "PositionList[0].Timestamp is empty";
return;
}
qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/TmsIfAdapter/src/dispatchers/report_positions.h
+1
View File
@@ -23,6 +23,7 @@ public:
Dispatcher();
void ReportPositions(const std::string &KeyId, const M_Common::PositionListType &PositionList, bool IsRemoved) override;
private:
NGL::INGLLogger &m_logger;
};
}
}
qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/TmsIfAdapter/src/dispatchers/report_radio_link_connection_state.cpp
+2 -2
View File
@@ -34,13 +34,13 @@ void Dispatcher::ReportRadioConnectionStatus(const std::string &, const M_Teleop
{
if (IsRemoved)
{
DEBUG_LOG() << "isRemoved";
DEBUG_LOG(m_logger) << "isRemoved";
return;
}
if (RadioConnectionStatus.LinkConnectionState == M_Teleoperation::RadioLinkConnectionState::Undefined)
{
DEBUG_LOG() << "MissionStatus.CurrentAction.CurrentTask.EnumeratedValue empty";
DEBUG_LOG(m_logger) << "MissionStatus.CurrentAction.CurrentTask.EnumeratedValue empty";
return;
}
qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/TmsIfAdapter/src/dispatchers/report_radio_link_connection_state.h
+1
View File
@@ -25,6 +25,7 @@ public:
Dispatcher();
void ReportRadioConnectionStatus(std::string const& KeyId, M_Teleoperation::RadioConnectionStatusType const& RadioConnectionStatus, bool IsRemoved) override;
private:
NGL::INGLLogger &m_logger;
};
}
}
qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/TmsIfAdapter/src/tms_if_adapter.cpp
+5 -5
View File
@@ -67,7 +67,7 @@ public:
, m_reader(m_master.dispatcher())
, m_writer(m_master.client())
{
ERROR_LOG() << "ctor";
ERROR_LOG(m_logger) << "ctor";
connect(m_reader.readerSignal(), &ReaderSignal::dataReady, this, &InterfaceAdapterInitializer::updatePoint);
@@ -77,7 +77,7 @@ public:
{
if (m_activeUas.empty())
{
ERROR_LOG() << "trying to stop active uas - DONE!";
ERROR_LOG(m_logger) << "trying to stop active uas - DONE!";
t->stop();
m_parent->setReady();
@@ -85,7 +85,7 @@ public:
return;
}
ERROR_LOG() << "trying to stop active uas:" << m_activeUas.size();
ERROR_LOG(m_logger) << "trying to stop active uas:" << m_activeUas.size();
for (const int activeUas : m_activeUas)
{
@@ -137,7 +137,7 @@ private:
TmsIfAdapterImpl::TmsIfAdapterImpl()
: m_iai(new InterfaceAdapterInitializer(this))
{
ERROR_LOG() << "TmsIfAdapter running!";
ERROR_LOG(m_logger) << "TmsIfAdapter running!";
}
@@ -145,7 +145,7 @@ TmsIfAdapterImpl::~TmsIfAdapterImpl()
{
delete m_iai;
delete m_guard;
ERROR_LOG() << "!!! TmsIfAdapterImpl DTOR!";
ERROR_LOG(m_logger) << "!!! TmsIfAdapterImpl DTOR!";
}
qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/TmsIfAdapter/src/uav_commander_impl.cpp
+60 -61
View File
@@ -15,9 +15,8 @@ using namespace LtsUtils;
namespace UAS
{
Resolver::Resolver(QObject *parent)
: QObject(parent)
{
Resolver::Resolver(QObject *parent) : QObject(parent),
m_logger(NGL::NGLLoggerBootstrap::getLogger()) {
connect(this, &Resolver::resolve, this, &QObject::deleteLater);
connect(this, &Resolver::reject, this, [this](){deleteLater();});
}
@@ -33,7 +32,7 @@ UAVCommanderImpl::UAVCommanderImpl(int domainId, int uasId, QObject *parent)
, m_Device(std::string("UAV_Device_") + std::to_string(uasId), domainId)
, m_CoordinateFrame(std::string("UAV_CoordinateFrame_") + std::to_string(uasId), domainId)
{
ERROR_LOG() << "ctor: " << (quintptr)this;
ERROR_LOG(m_logger) << "ctor: " << (quintptr)this;
connect(m_MissionCtrl.reader.readerSignal(), &ReaderSignal::dataReady, this, &UAVCommanderImpl::updateMissionStatus);
connect(m_TeleOperation.reader.readerSignal(), &ReaderSignal::dataReady, this, &UAVCommanderImpl::updateOperationalState);
@@ -81,7 +80,7 @@ UAVCommanderImpl::MissionCtrlContainer::MissionCtrlContainer(const std::string &
UAVCommanderImpl::~UAVCommanderImpl()
{
ERROR_LOG() << "dtor: " << (quintptr)this;
ERROR_LOG(m_logger) << "dtor: " << (quintptr)this;
if (m_createInterfaceAdapterInstance)
{
@@ -108,13 +107,13 @@ void UAVCommanderImpl::updateMissionStatus()
const auto oldTask = m_MissionCtrl.currentTask;
m_MissionCtrl.currentTask = msg.currentTask;
ERROR_LOG() << "currentTask = " << (int)m_MissionCtrl.currentTask;
ERROR_LOG(m_logger) << "currentTask = " << (int)m_MissionCtrl.currentTask;
const auto oldMission = m_MissionCtrl.currentMission;
m_MissionCtrl.currentMission = QString::fromStdString(msg.currentMissionName);
ERROR_LOG() << "oldTask = " << (int)oldTask;
ERROR_LOG(m_logger) << "oldTask = " << (int)oldTask;
ERROR_LOG() << "currentMission = " << QString::fromStdString(msg.currentMissionName);
ERROR_LOG(m_logger) << "currentMission = " << QString::fromStdString(msg.currentMissionName);
m_MissionCtrl.currentlyAllowedTasks.swap(msg.currentlyAllowedTasks);
@@ -122,7 +121,7 @@ void UAVCommanderImpl::updateMissionStatus()
{
ERROR_LOG() << "Old Task" << oldTask << "new task " << m_MissionCtrl.currentTask ;
ERROR_LOG(m_logger) << "Old Task" << oldTask << "new task " << m_MissionCtrl.currentTask ;
if (oldTask != m_MissionCtrl.currentTask)
{
if (!oldMission.isEmpty() && m_MissionCtrl.currentMission.isEmpty())
@@ -131,11 +130,11 @@ void UAVCommanderImpl::updateMissionStatus()
}
m_MissionCtrl.ReportMissionStatus_Callback(msg);
ERROR_LOG() << "################################# sending " << (int)m_MissionCtrl.currentTask << " " << (quintptr)this;
ERROR_LOG(m_logger) << "################################# sending " << (int)m_MissionCtrl.currentTask << " " << (quintptr)this;
}
else
{
ERROR_LOG() << "################################# VERWERFING ! " << (int)m_MissionCtrl.currentTask << " " << (quintptr)this;
ERROR_LOG(m_logger) << "################################# VERWERFING ! " << (int)m_MissionCtrl.currentTask << " " << (quintptr)this;
}
}
@@ -151,7 +150,7 @@ void UAVCommanderImpl::updateMissionStatus()
case MissionCtrl::Shutdown:
{
m_isReady = false;
ERROR_LOG() << "UAV not ready yet! currentTask: " << (int)m_MissionCtrl.currentTask;
ERROR_LOG(m_logger) << "UAV not ready yet! currentTask: " << (int)m_MissionCtrl.currentTask;
break;
}
@@ -166,7 +165,7 @@ void UAVCommanderImpl::updateMissionStatus()
{
m_isReady_Callback();
}
ERROR_LOG() << "UAV now ready!";
ERROR_LOG(m_logger) << "UAV now ready!";
break;
}
}
@@ -253,7 +252,7 @@ void UAVCommanderImpl::updateCBitStaus()
void UAVCommanderImpl::updateDeviceModeState()
{
ERROR_LOG() << "start";
ERROR_LOG(m_logger) << "start";
while (true)
{
@@ -264,10 +263,10 @@ void UAVCommanderImpl::updateDeviceModeState()
m_Device.currentMessage.clear();
m_Device.currentMessage.emplace_back(msg);
ERROR_LOG() << "before callback";
ERROR_LOG(m_logger) << "before callback";
if (m_Device.ReportDeviceStatus_Callback)
{
ERROR_LOG() << "callback!";
ERROR_LOG(m_logger) << "callback!";
m_Device.ReportDeviceStatus_Callback(msg);
}
}
@@ -281,11 +280,11 @@ void UAVCommanderImpl::updateDeviceModeState()
void UAVCommanderImpl::prepareMission(Resolver *resolver)
{
ERROR_LOG() << "resolver = " << (quintptr)resolver;
ERROR_LOG(m_logger) << "resolver = " << (quintptr)resolver;
if (isTaskAllowed(MissionCtrl::Task::Observe) || m_MissionCtrl.currentTask == MissionCtrl::Task::Connect )
{
ERROR_LOG() << "DONE! resolving " << (quintptr)resolver;
ERROR_LOG(m_logger) << "DONE! resolving " << (quintptr)resolver;
emit resolver->resolve();
return;
}
@@ -294,7 +293,7 @@ void UAVCommanderImpl::prepareMission(Resolver *resolver)
connect(r, &Resolver::reject, resolver, &Resolver::reject);
connect(r, &Resolver::resolve, resolver, [this, resolver]()
{
ERROR_LOG() << "r ("<<(quintptr)resolver<<")! resolving!";
ERROR_LOG(m_logger) << "r ("<<(quintptr)resolver<<")! resolving!";
Resolver *r2 = new Resolver(this);
connect(r2, &Resolver::reject, resolver, &Resolver::reject);
connect(r2, &Resolver::resolve, resolver, &Resolver::resolve);
@@ -303,7 +302,7 @@ void UAVCommanderImpl::prepareMission(Resolver *resolver)
if (!m_MissionCtrl.currentMission.isEmpty())
{
ERROR_LOG() << " > mission '"<< m_MissionCtrl.currentMission << "' currently active - aborting mission and waiting for loitering";
ERROR_LOG(m_logger) << " > mission '"<< m_MissionCtrl.currentMission << "' currently active - aborting mission and waiting for loitering";
sendCommand(r, {QStringLiteral("mission:abort (%1)").arg(m_MissionCtrl.currentMission), MissionCtrl::Task::Connect, [this]() { _abortMission(m_MissionCtrl.currentMission); }});
return;
}
@@ -312,28 +311,28 @@ void UAVCommanderImpl::prepareMission(Resolver *resolver)
{
case MissionCtrl::Task::Disarm:
{
ERROR_LOG() << " > arm";
ERROR_LOG(m_logger) << " > arm";
arm(r);
break;
}
case MissionCtrl::Task::Arm:
{
ERROR_LOG() << " > takeoff";
ERROR_LOG(m_logger) << " > takeoff";
takeoff(r);
break;
}
case MissionCtrl::Task::Takeoff:
{
ERROR_LOG() << " > waiting for Loiter ...";
ERROR_LOG(m_logger) << " > waiting for Loiter ...";
sendCommand(r, {QStringLiteral("loiter"), MissionCtrl::Task::Loiter, nullptr});
break;
}
case MissionCtrl::Task::Loiter:
{
ERROR_LOG() << " >WE loiter start to resolve";
ERROR_LOG(m_logger) << " >WE loiter start to resolve";
emit resolver->resolve();
break;
}
@@ -342,7 +341,7 @@ void UAVCommanderImpl::prepareMission(Resolver *resolver)
default:
{
ERROR_LOG() << "help, I don't know what to do with "<<(int)m_MissionCtrl.currentTask<<" :(";
ERROR_LOG(m_logger) << "help, I don't know what to do with "<<(int)m_MissionCtrl.currentTask<<" :(";
break;
}
}
@@ -353,7 +352,7 @@ void UAVCommanderImpl::sendMission(double lat, double lon, double alt, const QSt
{
if (!m_isReady)
{
ERROR_LOG() << "not ready";
ERROR_LOG(m_logger) << "not ready";
throw std::runtime_error("UAV not ready");
}
@@ -373,21 +372,21 @@ void UAVCommanderImpl::sendMission(double lat, double lon, double alt, const QSt
}
Resolver *r = new Resolver(this);
connect(r, &Resolver::reject, this, [this](const QString &msg) { ERROR_LOG() << "rejected: " << msg; });
connect(r, &Resolver::reject, this, [this](const QString &msg) { ERROR_LOG(m_logger) << "rejected: " << msg; });
connect(r, &Resolver::resolve, [this, lat, lon, alt, missionName]()
{
ERROR_LOG() << "!!!!!!!!!!!!!!!!!!!!!! going to observe now!!";
ERROR_LOG(m_logger) << "!!!!!!!!!!!!!!!!!!!!!! going to observe now!!";
Resolver *r2 = new Resolver(this);
connect(r2, &Resolver::reject, [this](const QString &msg) { ERROR_LOG() << "################ failed to start mission :( " << msg; });
connect(r2, &Resolver::reject, [this](const QString &msg) { ERROR_LOG(m_logger) << "################ failed to start mission :( " << msg; });
connect(r2, &Resolver::resolve, [this, missionName]()
{
Resolver *r3 = new Resolver(this);
connect(r3, &Resolver::reject, [this](const QString &msg) { ERROR_LOG() << "################ failed to wait for loiter :( " << msg; });
connect(r3, &Resolver::reject, [this](const QString &msg) { ERROR_LOG(m_logger) << "################ failed to wait for loiter :( " << msg; });
connect(r3, &Resolver::resolve, [this, missionName]()
{
ERROR_LOG() << "################ mission done" << missionName << " " << this << " ";
ERROR_LOG(m_logger) << "################ mission done" << missionName << " " << this << " ";
@@ -395,7 +394,7 @@ void UAVCommanderImpl::sendMission(double lat, double lon, double alt, const QSt
});
sendCommand(r3, {QStringLiteral("wait for mission to end (Loiter)"), MissionCtrl::Task::Loiter, nullptr}, -1);
ERROR_LOG() << "################ successfully started mission :)";
ERROR_LOG(m_logger) << "################ successfully started mission :)";
});
sendCommand(r2, { QStringLiteral("mission:observe"), MissionCtrl::Task::Observe, [this, lat, lon, alt, missionName]() { _sendMission(lat, lon, alt, missionName); } });
});
@@ -419,18 +418,18 @@ void UAVCommanderImpl::_abortMission(const QString &missionName)
void UAVCommanderImpl::_sendMission(double lat, double lon, double alt, const QString &missionName)
{
ERROR_LOG() << "lat = " << lat << ", lon = " << lon << ", alt = " << alt << ", missionName = " << missionName;
ERROR_LOG(m_logger) << "lat = " << lat << ", lon = " << lon << ", alt = " << alt << ", missionName = " << missionName;
M_Common::EllipsoidalPositionType pos;
if (alt <= 0.1)
{
ERROR_LOG() << "alt very low (<= 0.1) !";
ERROR_LOG(m_logger) << "alt very low (<= 0.1) !";
}
pos.Latitude = lat / LtsCoordTrans::deg2rad();
pos.Longitude = lon / LtsCoordTrans::deg2rad();
ERROR_LOG() << "DEG lat = " << pos.Latitude << ", lon = " << pos.Longitude << ", alt = " << alt << ", missionName = " << missionName;
ERROR_LOG(m_logger) << "DEG lat = " << pos.Latitude << ", lon = " << pos.Longitude << ", alt = " << alt << ", missionName = " << missionName;
pos.Altitude.push_back(alt);
@@ -447,8 +446,8 @@ void UAVCommanderImpl::_sendMission(double lat, double lon, double alt, const QS
void UAVCommanderImpl::returnToHome()
{
Resolver *r = new Resolver(this);
connect(r, &Resolver::reject, this, [this](const QString &error) { ERROR_LOG() << "returnToHome failed: " << error; });
connect(r, &Resolver::resolve, this, [this]() { ERROR_LOG() << "returnToHome done :)"; });
connect(r, &Resolver::reject, this, [this](const QString &error) { ERROR_LOG(m_logger) << "returnToHome failed: " << error; });
connect(r, &Resolver::resolve, this, [this]() { ERROR_LOG(m_logger) << "returnToHome done :)"; });
sendCommand(r, { QStringLiteral("return"), MissionCtrl::Task::Return, [this]() { _returnToHome(); } }, -1 );
}
@@ -467,12 +466,12 @@ void UAVCommanderImpl::sendCommand(Resolver *resolver, const Command &cmd, int t
if (m_tried != 0)
{
ERROR_LOG() << commandName << ": another request already running - replacing ("<<m_tried__ACTIVE<<")";
ERROR_LOG(m_logger) << commandName << ": another request already running - replacing ("<<m_tried__ACTIVE<<")";
}
if (m_MissionCtrl.currentTask == type)
{
ERROR_LOG() << commandName << ": current task already matches new task '"<< commandName <<"' - replacing anyways";
ERROR_LOG(m_logger) << commandName << ": current task already matches new task '"<< commandName <<"' - replacing anyways";
}
if (m_currentResolver)
@@ -481,7 +480,7 @@ void UAVCommanderImpl::sendCommand(Resolver *resolver, const Command &cmd, int t
}
m_currentResolver = resolver;
ERROR_LOG() << commandName << ": sending '" << commandName <<"' command ...";
ERROR_LOG(m_logger) << commandName << ": sending '" << commandName <<"' command ...";
m_tried = 1;
m_tried__ACTIVE = cmd.name;
@@ -494,14 +493,14 @@ void UAVCommanderImpl::sendCommand(Resolver *resolver, const Command &cmd, int t
{
if (commandFn)
{
ERROR_LOG() << commandName << ": sending '"<< commandName <<"' command failed - timeout, trying again !";
ERROR_LOG(m_logger) << commandName << ": sending '"<< commandName <<"' command failed - timeout, trying again !";
try
{
commandFn();
}
catch(const std::exception &ex)
{
ERROR_LOG() << commandName << ": sending '"<< commandName <<"' command failed:" << ex.what();
ERROR_LOG(m_logger) << commandName << ": sending '"<< commandName <<"' command failed:" << ex.what();
}
}
};
@@ -521,7 +520,7 @@ void UAVCommanderImpl::sendCommand(Resolver *resolver, const Command &cmd, int t
{
timeout->stop();
guard->deleteLater();
ERROR_LOG() << commandName << ": sending '"<< commandName <<"' command failed - max tries reached, giving up !";
ERROR_LOG(m_logger) << commandName << ": sending '"<< commandName <<"' command failed - max tries reached, giving up !";
m_tried = 0;
m_currentResolver.clear();
emit resolver->reject(QStringLiteral("Sending %1 command timed out!").arg(commandName));
@@ -540,7 +539,7 @@ void UAVCommanderImpl::sendCommand(Resolver *resolver, const Command &cmd, int t
connect(reader->readerSignal(), &ReaderSignal::dataReady,
this, [this, reader, guard, timeout, commandName, type, resolver]()
{
ERROR_LOG() << commandName << ": reader signal for '"<< commandName <<"' !";
ERROR_LOG(m_logger) << commandName << ": reader signal for '"<< commandName <<"' !";
while(true)
{
@@ -548,14 +547,14 @@ void UAVCommanderImpl::sendCommand(Resolver *resolver, const Command &cmd, int t
{
const auto msg = reader->getNext();
ERROR_LOG() << "########## READER SIGNAL (should: " << (int)type << ", is: " << (int)msg.currentTask << ")";
ERROR_LOG(m_logger) << "########## READER SIGNAL (should: " << (int)type << ", is: " << (int)msg.currentTask << ")";
if (msg.currentTask == type
|| (type == MissionCtrl::Task::Takeoff && msg.currentTask == MissionCtrl::Task::Connect)
|| (type == MissionCtrl::Task::Return && (msg.currentTask == MissionCtrl::Task::Disarm || msg.currentTask == MissionCtrl::Task::Land)))
{
ERROR_LOG() << commandName << ": successfully set new task '"<< commandName <<"' !";
ERROR_LOG(m_logger) << commandName << ": successfully set new task '"<< commandName <<"' !";
QTimer *x = new QTimer(guard);
@@ -565,7 +564,7 @@ void UAVCommanderImpl::sendCommand(Resolver *resolver, const Command &cmd, int t
connect(guard, &QObject::destroyed, x, &QTimer::stop);
connect(x, &QTimer::timeout, this, [this, timeout, guard, resolver]()
{
ERROR_LOG() << "############# RESOLVE AFTER 1s";
ERROR_LOG(m_logger) << "############# RESOLVE AFTER 1s";
m_tried = 0;
if (timeout != nullptr)
@@ -588,7 +587,7 @@ void UAVCommanderImpl::sendCommand(Resolver *resolver, const Command &cmd, int t
}
}
ERROR_LOG() << commandName << ": command '"<< commandName <<"' not accepted (yet)";
ERROR_LOG(m_logger) << commandName << ": command '"<< commandName <<"' not accepted (yet)";
});
@@ -642,7 +641,7 @@ void UAVCommanderImpl::sendTryReclaimAutoMode()
}
catch(const std::exception &ex)
{
ERROR_LOG() << "Failed to send DeviceMode:" << ex.what();
ERROR_LOG(m_logger) << "Failed to send DeviceMode:" << ex.what();
}
}
@@ -669,25 +668,25 @@ CreateInterfaceAdapterInstance::CreateInterfaceAdapterInstance(int uasId, const
connect(m_reader.readerSignal(), &ReaderSignal::dataReady,
this, [this, uasId]()
{
ERROR_LOG() << "readerSignal for uasId" << m_uasId;
ERROR_LOG(m_logger) << "readerSignal for uasId" << m_uasId;
const auto msgs = readAll<ObjectManager::ReportPoint::Message>(m_reader);
ERROR_LOG() << "msgs.size" << msgs.size() << m_uasId;
ERROR_LOG(m_logger) << "msgs.size" << msgs.size() << m_uasId;
for (const auto &msg : msgs)
{
ERROR_LOG() << "msg uas" << msg.uasId << "removed" << msg.isRemoved;
ERROR_LOG(m_logger) << "msg uas" << msg.uasId << "removed" << msg.isRemoved;
if (msg.uasId == uasId && !msg.isRemoved)
{
ERROR_LOG() << "DONE!!";
ERROR_LOG(m_logger) << "DONE!!";
m_timeout->stop();
return;
}
}
ERROR_LOG() << "no ia instance for"<<m_uasId<<"found !! starting timeout";
ERROR_LOG(m_logger) << "no ia instance for"<<m_uasId<<"found !! starting timeout";
if (!m_timeout->isActive())
{
m_timeout->start();
@@ -706,7 +705,7 @@ CreateInterfaceAdapterInstance::CreateInterfaceAdapterInstance(int uasId, const
void CreateInterfaceAdapterInstance::onStart()
{
ERROR_LOG() << " -- CreateInterfaceAdapterInstance -- ::onStart() CmdAddUpdatePoint" << m_uasId<<" ip: "<<m_ip<<" use TCP ? "<<m_useTcp;
ERROR_LOG(m_logger) << " -- CreateInterfaceAdapterInstance -- ::onStart() CmdAddUpdatePoint" << m_uasId<<" ip: "<<m_ip<<" use TCP ? "<<m_useTcp;
M_ObjectManager::PointObjectType pot;
pot.AdditionalInfo.push_back({ "IP", m_ip, {}, {}, M_Common::PropertyAccessKind::Type::Undefined });
@@ -720,7 +719,7 @@ void CreateInterfaceAdapterInstance::onStart()
}
catch (const std::exception &ex)
{
ERROR_LOG() << "CmdAddUpdatePoint FAILED!" << m_uasId << ":" << ex.what();
ERROR_LOG(m_logger) << "CmdAddUpdatePoint FAILED!" << m_uasId << ":" << ex.what();
}
}
@@ -742,18 +741,18 @@ KillInterfaceAdapterInstanceAsync::KillInterfaceAdapterInstanceAsync(int uasId)
return;
}
ERROR_LOG() << "readerSignal for uasId" << m_uasId;
ERROR_LOG(m_logger) << "readerSignal for uasId" << m_uasId;
const auto msgs = readAll<ObjectManager::ReportPoint::Message>(m_reader);
ERROR_LOG() << "msgs.size" << msgs.size() << m_uasId;
ERROR_LOG(m_logger) << "msgs.size" << msgs.size() << m_uasId;
for (const auto &msg : msgs)
{
ERROR_LOG() << "msg uas" << msg.uasId << "removed" << msg.isRemoved;
ERROR_LOG(m_logger) << "msg uas" << msg.uasId << "removed" << msg.isRemoved;
if (msg.uasId == uasId && msg.isRemoved)
{
ERROR_LOG() << "DONE!!";
ERROR_LOG(m_logger) << "DONE!!";
m_done = true;
deleteLater();
return;
@@ -778,7 +777,7 @@ void KillInterfaceAdapterInstanceAsync::onStop()
}
catch (const std::exception &ex)
{
ERROR_LOG() << "CmdRemove" << m_uasId << ":" << ex.what();
ERROR_LOG(m_logger) << "CmdRemove" << m_uasId << ":" << ex.what();
}
}
qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/TmsIfAdapter/src/uav_commander_impl.h
+2
View File
@@ -48,6 +48,8 @@ private slots:
void onStart();
private:
NGL::INGLLogger &m_logger;
mutable CommunicationMaster<M_ObjectManager::Client, ObjectManager::ReportPoint::Dispatcher> m_master;
Reader<ObjectManager::ReportPoint::Message> m_reader;
M_ObjectManager::Client m_writer;
qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/from_tab.cpp
+9 -9
View File
@@ -115,12 +115,12 @@ bool FromTab::txData(const TrainingAreaBase::TetraIcd::Init &data)
bool FromTab::txData(const TrainingAreaBase::TetraIcd::UAVPerformMission &data)
{
const int eqId = data.header.equipmentNumber;
DEBUG_LOG() << "eqId: " << eqId;
DEBUG_LOG(m_logger) << "eqId: " << eqId;
const ParticipantManagement::Participant p = m_dtcPpm->participant(m_dtcPpm->participantIdByEquipmentNumber(eqId));
if (p.id() <= 0)
{
WARNING_LOG() << "participant not found - stop";
WARNING_LOG(m_logger) << "participant not found - stop";
return false;
}
@@ -130,7 +130,7 @@ bool FromTab::txData(const TrainingAreaBase::TetraIcd::UAVPerformMission &data)
if (!m_uavIAManager->waypoint(p.id(), action.absPosition, QStringLiteral("%1_%2").arg(data.missionId).arg(data.missionName)))
{
WARNING_LOG() << "sending waypoint failed!";
WARNING_LOG(m_logger) << "sending waypoint failed!";
return false;
}
@@ -145,7 +145,7 @@ bool FromTab::txData(const TrainingAreaBase::TetraIcd::UAVChangeState &data)
if (p.id() <= 0)
{
WARNING_LOG() << "participant not found - stop";
WARNING_LOG(m_logger) << "participant not found - stop";
return false;
}
@@ -167,23 +167,23 @@ bool FromTab::txData(const TrainingAreaBase::TetraIcd::CesHitRequest &data)
{
DEBUG_LOG() << "data.chargeTasCodeDirect = " << data.chargeTasCodeDirect;
DEBUG_LOG(m_logger) << "data.chargeTasCodeDirect = " << data.chargeTasCodeDirect;
if (!m_dtcPdm->isJamming(data.chargeTasCodeDirect,0,0))
{
WARNING_LOG() << "not jamming";
WARNING_LOG(m_logger) << "not jamming";
return false;
}
DEBUG_LOG() << "participantEventChanged: JAMMING! chargetasCodeDirect = " << data.chargeTasCodeDirect;
DEBUG_LOG(m_logger) << "participantEventChanged: JAMMING! chargetasCodeDirect = " << data.chargeTasCodeDirect;
const int eqId = data.header.equipmentNumber;
const ParticipantManagement::Participant p = m_dtcPpm->participant(m_dtcPpm->participantIdByEquipmentNumber(eqId));
if (p.id() <= 0)
{
WARNING_LOG() << "participant not found - stop";
WARNING_LOG(m_logger) << "participant not found - stop";
return false;
}
@@ -196,7 +196,7 @@ bool FromTab::txData(const TrainingAreaBase::TetraIcd::CesHitRequest &data)
msg.vulnerabilityState = TrainingAreaBase::TetraIcd::VulnerabilityState::CatastrophicKill;
msg.originatorId = data.originatorEquipmentNumber;
DEBUG_LOG() << "sending state change direct (kill) with jamming for eqId " << msg.header.equipmentNumber;
DEBUG_LOG(m_logger) << "sending state change direct (kill) with jamming for eqId " << msg.header.equipmentNumber;
m_sendToDds->rxData(msg);
qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/from_tab.h
+1
View File
@@ -84,6 +84,7 @@ Q_SIGNALS:
void outgoingMessage(const QByteArray &msg);
protected:
NGL::INGLLogger &m_logger;
bool m_isConnected;
std::shared_ptr<ProjectDataManagement::Interface::Dtc> m_dtcPdm;
std::shared_ptr<ParticipantManagement::Interface::Dtc> m_dtcPpm;
qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/plugin_instance.cpp
+5 -6
View File
@@ -23,9 +23,8 @@
namespace UAS
{
TmsIfModuleHandle::TmsIfModuleHandle()
: m_handle(ModuleLoader::load(QString(QCoreApplication::applicationDirPath() + QStringLiteral("/../lib/")).toStdString()))
{}
TmsIfModuleHandle::TmsIfModuleHandle() : m_handle(ModuleLoader::load(QString(QCoreApplication::applicationDirPath() + QStringLiteral("/../lib/")).toStdString())),
m_logger(NGL::NGLLoggerBootstrap::getLogger()) {}
TmsIfModuleHandle::~TmsIfModuleHandle()
@@ -55,11 +54,11 @@ PluginInstance::PluginInstance(TrainingAreaBase::Plugin::DataProvider *dataProvi
, m_uavIAManager(new UAVInterfaceAdapterManager(m_ddsHandler, m_sendToDds, m_tmsIfAdapter, m_exerciseId, this))
, m_fromTab(new FromTab(ddsHandler, m_sendToDds, m_uavIAManager, m_exerciseId))
{
DEBUG_LOG() << "UAS PluginInstance running!";
DEBUG_LOG(m_logger) << "UAS PluginInstance running!";
if (!m_dtcPdm)
{
WARNING_LOG() << "m_dtcPdm failed";
WARNING_LOG(m_logger) << "m_dtcPdm failed";
throw std::runtime_error("m_dtcPdm failed");
}
m_dtcPdm->enableChargeType();
@@ -68,7 +67,7 @@ PluginInstance::PluginInstance(TrainingAreaBase::Plugin::DataProvider *dataProvi
if (!m_dtcPpm)
{
WARNING_LOG() << "m_dtcPpm failed";
WARNING_LOG(m_logger) << "m_dtcPpm failed";
throw std::runtime_error("m_dtcPpm failed");
}
m_dtcPpm->enableParticipant();
qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/plugin_instance.h
+2
View File
@@ -37,6 +37,8 @@ public:
}
private:
NGL::INGLLogger &m_logger;
void *m_handle { nullptr };
};
qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/uav_ia.cpp
+1 -1
View File
@@ -18,7 +18,7 @@ UAVInterfaceAdapter::UAVInterfaceAdapter(UAVInterfaceAdapterConfig uavConfig, UA
UAVInterfaceAdapter::~UAVInterfaceAdapter()
{
DEBUG_LOG() << "terminating IA for UAV - " << (quintptr)this;
DEBUG_LOG(m_logger) << "terminating IA for UAV - " << (quintptr)this;
delete m_commander;
}
}
qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/uav_ia.h
+2
View File
@@ -57,6 +57,8 @@ public:
UAVCommander &commander() { return *m_commander; }
private:
NGL::INGLLogger &m_logger;
UAVInterfaceAdapterConfig m_config;
UAVCommander *m_commander;
};
qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/uav_ia_manager.cpp
+42 -43
View File
@@ -25,19 +25,18 @@ const int UAVInterfaceAdapterManager::s_domainId = 4;
UAVInterfaceAdapterManager::UAVInterfaceAdapterManager(const std::shared_ptr<TrainingAreaBase::DdsHandler> &ddsHandler,
const std::shared_ptr<TrainingAreaBase::RecvFromTab> &sendToDds,
TmsIfAdapter &tmsIfAdapter, int exerciseId, QObject *parent)
: QObject(parent)
TmsIfAdapter &tmsIfAdapter, int exerciseId, QObject *parent) : QObject(parent)
, m_exerciseId(exerciseId)
, m_dtcPpm(ParticipantManagement::Interface::Dtc::create(ddsHandler->ddsConnector()))
, m_ftcPpm(ParticipantManagement::Interface::Ftc::create(ddsHandler->ddsConnector()))
, m_tmsIfAdapter(tmsIfAdapter)
, m_sendToDds(sendToDds)
{}
, m_sendToDds(sendToDds),
m_logger(NGL::NGLLoggerBootstrap::getLogger()) {}
void UAVInterfaceAdapterManager::init()
{
DEBUG_LOG() << "UAVInterfaceAdapterManager starting for ex " << m_exerciseId;
DEBUG_LOG(m_logger) << "UAVInterfaceAdapterManager starting for ex " << m_exerciseId;
m_dtcPpm->waitForHistoricalDataDynamicParticipantData(3000);
m_dtcPpm->waitForHistoricalDataParticipant(3000);
@@ -80,7 +79,7 @@ void UAVInterfaceAdapterManager::init()
m_dtcPpm->enableUAS();
}
DEBUG_LOG() << "done";
DEBUG_LOG(m_logger) << "done";
}
@@ -95,21 +94,21 @@ void UAVInterfaceAdapterManager::removed(const ParticipantManagement::UAS &uas)
if (m_uavs.find(uas.id()) != m_uavs.cend())
{
WARNING_LOG() << "tried removing participant " << uas.id() << " that doesn't exist";
WARNING_LOG(m_logger) << "tried removing participant " << uas.id() << " that doesn't exist";
return;
}
DEBUG_LOG() << "UAV with uas id " << uas.id() << " found! removing.....";
DEBUG_LOG(m_logger) << "UAV with uas id " << uas.id() << " found! removing.....";
stop(uas);
}
void UAVInterfaceAdapterManager::modified(const ParticipantManagement::UAS &uas)
{
DEBUG_LOG() << "modify uas " << uas.id();
DEBUG_LOG(m_logger) << "modify uas " << uas.id();
if (uas.participantId() <= 0)
{
WARNING_LOG() << "UAV with uas id " << uas.id() << " not a UAV anymore - removing";
WARNING_LOG(m_logger) << "UAV with uas id " << uas.id() << " not a UAV anymore - removing";
stop(uas);
return;
}
@@ -121,14 +120,14 @@ void UAVInterfaceAdapterManager::modified(const ParticipantManagement::UAS &uas)
const auto i = m_uavs.find(uasId);
if (i == m_uavs.cend())
{
WARNING_LOG() << "UAV with uas id " << uas.id() << " was modified but now found in our list - feeding it as 'added' instead as a bail-out";
WARNING_LOG(m_logger) << "UAV with uas id " << uas.id() << " was modified but now found in our list - feeding it as 'added' instead as a bail-out";
added(uas);
return;
}
const UAVInterfaceAdapter &uav2 = *i->second;
DEBUG_LOG() << "UAV with uas id " << uas.id() << " found";
DEBUG_LOG(m_logger) << "UAV with uas id " << uas.id() << " found";
try
{
@@ -136,7 +135,7 @@ void UAVInterfaceAdapterManager::modified(const ParticipantManagement::UAS &uas)
if (uav2.config() == config)
{
DEBUG_LOG() << "UAV with uas id " << uas.id() << " already running and config has not changed - doing nothing (irrelevant data has changed)";
DEBUG_LOG(m_logger) << "UAV with uas id " << uas.id() << " already running and config has not changed - doing nothing (irrelevant data has changed)";
return;
}
@@ -149,14 +148,14 @@ void UAVInterfaceAdapterManager::modified(const ParticipantManagement::UAS &uas)
}
catch(const std::exception &ex)
{
WARNING_LOG() << "Failed to modify UAV: " << ex.what();
WARNING_LOG(m_logger) << "Failed to modify UAV: " << ex.what();
}
}
void UAVInterfaceAdapterManager::added(const ParticipantManagement::UAS &uas)
{
DEBUG_LOG() << "exId: " << m_exerciseId << ", uas: " << uas.id() << ", participantId: " << uas.participantId()<<" ## use tcp ? "<<uas.useTcp();
DEBUG_LOG(m_logger) << "exId: " << m_exerciseId << ", uas: " << uas.id() << ", participantId: " << uas.participantId()<<" ## use tcp ? "<<uas.useTcp();
const auto participant = m_dtcPpm->participant(uas.participantId());
@@ -170,17 +169,17 @@ void UAVInterfaceAdapterManager::added(const ParticipantManagement::UAS &uas)
return;
}
DEBUG_LOG() << "added uav with id " << uas.id() << " for pId " << uas.participantId();
DEBUG_LOG(m_logger) << "added uav with id " << uas.id() << " for pId " << uas.participantId();
if (m_uavs.find(uas.id()) != m_uavs.cend())
{
DEBUG_LOG() << "participant " << uas.id() << " already started - doing nothing";
DEBUG_LOG(m_logger) << "participant " << uas.id() << " already started - doing nothing";
return;
}
DEBUG_LOG() << "############# ALLES OKAY uas: " << uas.id() << " - pId: " << uas.participantId();
DEBUG_LOG() << "UAV with uas id " << uas.id() << " found";
DEBUG_LOG(m_logger) << "############# ALLES OKAY uas: " << uas.id() << " - pId: " << uas.participantId();
DEBUG_LOG(m_logger) << "UAV with uas id " << uas.id() << " found";
try
{
@@ -189,7 +188,7 @@ void UAVInterfaceAdapterManager::added(const ParticipantManagement::UAS &uas)
}
catch (const std::exception &ex)
{
WARNING_LOG() << "Failed to start uav ia: " << ex.what();
WARNING_LOG(m_logger) << "Failed to start uav ia: " << ex.what();
}
}
@@ -212,7 +211,7 @@ void UAVInterfaceAdapterManager::start(const ParticipantManagement::UAS &uas, UA
const int droneDomainId = s_domainId;
const bool useTcp = uas.useTcp();
DEBUG_LOG() << "starting IA for eqId = " << droneEqId << ", pid = " << droneParticipantId << ", domain = " << droneDomainId << ", uasId = " << uasId<<" // ** useTcp: "<<uas.useTcp();
DEBUG_LOG(m_logger) << "starting IA for eqId = " << droneEqId << ", pid = " << droneParticipantId << ", domain = " << droneDomainId << ", uasId = " << uasId<<" // ** useTcp: "<<uas.useTcp();
auto *uav = m_tmsIfAdapter.createUAV(droneDomainId, uasId);
@@ -221,13 +220,13 @@ void UAVInterfaceAdapterManager::start(const ParticipantManagement::UAS &uas, UA
const auto fn = [this, droneDomainId, droneParticipantId, droneEqId, useTcp]()
{
DEBUG_LOG() << "UAV " << droneDomainId << " / " << droneParticipantId <<" / use TCP ? "<<useTcp<< " ready !!";
DEBUG_LOG(m_logger) << "UAV " << droneDomainId << " / " << droneParticipantId <<" / use TCP ? "<<useTcp<< " ready !!";
const auto pdata = m_dtcPpm->dynamicParticipantData(droneParticipantId);
if (pdata.participantId() < 1 || pdata.stateHistory().empty())
{
DEBUG_LOG() << "pdata or state history for pid " << droneParticipantId << " is empty - sending init";
DEBUG_LOG(m_logger) << "pdata or state history for pid " << droneParticipantId << " is empty - sending init";
TrainingAreaBase::TetraIcd::StateChange msg;
msg.header.equipmentNumber = droneEqId;
@@ -240,11 +239,11 @@ void UAVInterfaceAdapterManager::start(const ParticipantManagement::UAS &uas, UA
m_sendToDds->rxData(msg);
DEBUG_LOG() << "sent combat ready for " << droneParticipantId << " - done";
DEBUG_LOG(m_logger) << "sent combat ready for " << droneParticipantId << " - done";
}
else
{
WARNING_LOG() << "state history for pid " << droneParticipantId << " not empty - nothing to do";
WARNING_LOG(m_logger) << "state history for pid " << droneParticipantId << " not empty - nothing to do";
}
};
uav->set_isReady_Callback(fn);
@@ -259,7 +258,7 @@ void UAVInterfaceAdapterManager::start(const ParticipantManagement::UAS &uas, UA
msg.header.timeStamp = QDateTime::currentMSecsSinceEpoch();
msg.geoPosition = { data.lon * LtsCoordTrans::deg2rad(), data.lat * LtsCoordTrans::deg2rad(), data.alt };
DEBUG_LOG() << "POSITION! sending PositionReport into TAB";
DEBUG_LOG(m_logger) << "POSITION! sending PositionReport into TAB";
m_sendToDds->rxData(msg);
});
@@ -317,19 +316,19 @@ void UAVInterfaceAdapterManager::start(const ParticipantManagement::UAS &uas, UA
}
m_sendToDds->rxData(msg);
DEBUG_LOG() << "RadioLinkConnectionState! sending RadioLinkConnectionState into TAB";
DEBUG_LOG(m_logger) << "RadioLinkConnectionState! sending RadioLinkConnectionState into TAB";
});
uav->set_ReportRadioLinkConnectionState_Callback([this, droneEqId](const TeleOperation::RadioLinkConnectionState::Message &data)
{
DEBUG_LOG() << "COULD! send RadioLinkConnectionState! sending RadioLinkConnectionState into TAB << " << droneEqId << " " << data.status;
DEBUG_LOG(m_logger) << "COULD! send RadioLinkConnectionState! sending RadioLinkConnectionState into TAB << " << droneEqId << " " << data.status;
});
uav->set_ReportMissionStatus_Callback([this, droneEqId](const MissionCtrl::ReportMissionStatus::Message &data)
{
DEBUG_LOG() << "ReportMissionStatus! sending ReportMissionStatus into TAB << " << droneEqId << " - currentTask = " << (int)data.currentTask << ", currentMission = " << data.currentMissionName;
DEBUG_LOG(m_logger) << "ReportMissionStatus! sending ReportMissionStatus into TAB << " << droneEqId << " - currentTask = " << (int)data.currentTask << ", currentMission = " << data.currentMissionName;
TrainingAreaBase::TetraIcd::UAVMissionStatus msg;
msg.header.equipmentNumber = droneEqId;
@@ -345,7 +344,7 @@ void UAVInterfaceAdapterManager::start(const ParticipantManagement::UAS &uas, UA
case MissionCtrl::Task::Connect: msg.currentAction = TrainingAreaBase::TetraIcd::UAVActionTask::Connect; break;
case MissionCtrl::Task::Loiter: msg.currentAction = TrainingAreaBase::TetraIcd::UAVActionTask::Loiter; break;
case MissionCtrl::Task::Return: msg.currentAction = TrainingAreaBase::TetraIcd::UAVActionTask::Return;
DEBUG_LOG() << "Return";
DEBUG_LOG(m_logger) << "Return";
setMissionActionFulfilled(droneEqId);
break;
case MissionCtrl::Task::Observe: msg.currentAction = TrainingAreaBase::TetraIcd::UAVActionTask::Observe; break;
@@ -358,23 +357,23 @@ void UAVInterfaceAdapterManager::start(const ParticipantManagement::UAS &uas, UA
uav->startIA(config.m_ip.toStdString(), config.m_port, config.m_useTcp);
DEBUG_LOG() << "DONE STARTING UAV!";
DEBUG_LOG(m_logger) << "DONE STARTING UAV!";
}
catch (const std::exception &ex)
{
WARNING_LOG() << "Failed to start UAV: " << ex.what();
WARNING_LOG(m_logger) << "Failed to start UAV: " << ex.what();
}
}
void UAVInterfaceAdapterManager::stop(const ParticipantManagement::UAS &uas)
{
DEBUG_LOG() << "############################### STOP !! " << uas.id();
DEBUG_LOG(m_logger) << "############################### STOP !! " << uas.id();
auto it = m_uavs.find(uas.id());
if (it == m_uavs.cend())
{
DEBUG_LOG() << "uav not found - ignoring :/";
DEBUG_LOG(m_logger) << "uav not found - ignoring :/";
return;
}
it->second->deleteLater();
@@ -388,7 +387,7 @@ bool UAVInterfaceAdapterManager::kill(int participantId)
if (uas.id() < 1)
{
DEBUG_LOG() << "uas by participant id " << participantId << " not found - stop";
DEBUG_LOG(m_logger) << "uas by participant id " << participantId << " not found - stop";
return false;
}
@@ -396,7 +395,7 @@ bool UAVInterfaceAdapterManager::kill(int participantId)
if (i == m_uavs.cend())
{
DEBUG_LOG() << "uav by participant id " << participantId << " not found - stop";
DEBUG_LOG(m_logger) << "uav by participant id " << participantId << " not found - stop";
return false;
}
@@ -413,7 +412,7 @@ bool UAVInterfaceAdapterManager::waypoint(int participantId, TrainingAreaBase::T
if (uas.id() < 1)
{
DEBUG_LOG() << "uas by participant id " << participantId << " not found - stop";
DEBUG_LOG(m_logger) << "uas by participant id " << participantId << " not found - stop";
return false;
}
@@ -421,11 +420,11 @@ bool UAVInterfaceAdapterManager::waypoint(int participantId, TrainingAreaBase::T
if (i == m_uavs.cend())
{
DEBUG_LOG() << "uav by participant id " << participantId << " not found - stop";
DEBUG_LOG(m_logger) << "uav by participant id " << participantId << " not found - stop";
for (const auto &uav : m_uavs)
{
DEBUG_LOG() << "pid: " << uav.first;
DEBUG_LOG(m_logger) << "pid: " << uav.first;
}
return false;
@@ -433,7 +432,7 @@ bool UAVInterfaceAdapterManager::waypoint(int participantId, TrainingAreaBase::T
if (i->second == nullptr)
{
WARNING_LOG() << "UAVInterfaceAdapterManager::waypoint: NULLPTR for "<<participantId;
WARNING_LOG(m_logger) << "UAVInterfaceAdapterManager::waypoint: NULLPTR for "<<participantId;
return false;
}
@@ -447,7 +446,7 @@ bool UAVInterfaceAdapterManager::waypoint(int participantId, TrainingAreaBase::T
}
catch (const std::exception& e)
{
WARNING_LOG() << "UAVInterfaceAdapterManager::waypoint: " << e.what();
WARNING_LOG(m_logger) << "UAVInterfaceAdapterManager::waypoint: " << e.what();
return false;
}
}
@@ -457,7 +456,7 @@ void UAVInterfaceAdapterManager::setMissionActionFulfilled(int equipmentNumber)
{
DEBUG_LOG() << "setMissionActionFulfilled equipmentId=" << equipmentNumber;
DEBUG_LOG(m_logger) << "setMissionActionFulfilled equipmentId=" << equipmentNumber;
const int missionId = m_dtcPpm->uasMissionIdByEquipmentNumber(equipmentNumber);
@@ -472,7 +471,7 @@ void UAVInterfaceAdapterManager::setMissionActionFulfilled(int equipmentNumber)
}
catch (const std::exception &e)
{
WARNING_LOG() << " -- unable to abort mission with planId:"<<abortReq.missionId() << ": " << e.what();
WARNING_LOG(m_logger) << " -- unable to abort mission with planId:"<<abortReq.missionId() << ": " << e.what();
}
return;
qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/uav_ia_manager.h
+2
View File
@@ -50,6 +50,8 @@ public:
bool tryChangeModeToAuto(int participantId);
private:
NGL::INGLLogger &m_logger;
void removed(const ParticipantManagement::UAS &uas);
void modified(const ParticipantManagement::UAS &uas);
void added(const ParticipantManagement::UAS &uas);