Adds immediate migration results in progress

qt6-after/qt6-migrated-legatus/Lts/Proxies/TrainingAreaBase/Plugins/UAS/TmsIfAdapter/src/dispatchers/report_cbit_status.cpp

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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;