feat(mavlink): Migrate NLog => ILogger

src/Asv.Mavlink.Shell/Asv.Mavlink.Shell.csproj

@@ -1,7 +1,7 @@
 <Project Sdk="Microsoft.NET.Sdk">
   <PropertyGroup>
     <OutputType>Exe</OutputType>
-    <TargetFrameworks>net6.0;net7.0;net8.0</TargetFrameworks>
+    <TargetFramework>net8.0</TargetFramework>
     <AssemblyVersion>$(ProductVersion)</AssemblyVersion>
     <FileVersion>$(ProductVersion)</FileVersion>
     <Version>$(ProductVersion)</Version>

src/Asv.Mavlink.Test/Asv.Mavlink.Test.csproj

@@ -1,7 +1,7 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
-	  <TargetFrameworks>net6.0;net7.0;net8.0</TargetFrameworks>
+	  <TargetFramework>net8.0</TargetFramework>
       <IsPackable>false</IsPackable>
       <AssemblyVersion>$(ProductVersion)</AssemblyVersion>
       <FileVersion>$(ProductVersion)</FileVersion>

src/Asv.Mavlink.Test/Microservices/AsvRsga/AsvRsgaExTest.cs

@@ -44,7 +44,7 @@ public async Task Client_request_compatibility_server_respond_it()
         var origin = new HashSet<AsvRsgaCustomMode>(Enum.GetValues<AsvRsgaCustomMode>());
         serverEx.GetCompatibility = () => origin;
         var originMode = AsvRsgaCustomMode.AsvRsgaCustomModeTxGp;
-        serverEx.SetMode = async (mode, cancel) =>
+        serverEx.SetMode = async (mode, param2, param3, param4, param5, param6, param7, cancel) => 
         {
             Assert.Equal(originMode,mode);
             return MavResult.MavResultAccepted;

src/Asv.Mavlink/Asv.Mavlink.csproj

@@ -1,6 +1,6 @@
 <Project Sdk="Microsoft.NET.Sdk">
   <PropertyGroup>
-    <TargetFrameworks>net6.0;net7.0;net8.0</TargetFrameworks>
+    <TargetFramework>net8.0</TargetFramework>
     <AssemblyVersion>$(ProductVersion)</AssemblyVersion>
     <FileVersion>$(ProductVersion)</FileVersion>
     <Version>$(ProductVersion)</Version>
@@ -59,6 +59,7 @@
     <PackageReference Include="Asv.Common" Version="$(AsvCommonVersion)" />
     <PackageReference Include="Asv.IO" Version="$(AsvCommonVersion)" />
     <PackageReference Include="DynamicData" Version="$(DynamicDataVersion)" />
+    <PackageReference Include="ZLogger" Version="$(ZLoggerVersion)" />
     <PackageReference Include="Microsoft.DotNet.ApiCompat.Task" Version="$(ApiCompatVersion)" >
       <!--using api compatibility purely as a development harness-->
       <PrivateAssets>all</PrivateAssets>

src/Asv.Mavlink/Devices/Adsb/Server/AdsbServerDevice.cs

@@ -19,7 +19,7 @@ public AdsbServerDevice(IMavlinkV2Connection connection,
     {
         var command = new CommandServer(connection,seq,identity,scheduler).DisposeItWith(Disposable);
         Adsb = new AdsbVehicleServer(connection, identity, seq, scheduler);
-        Heartbeat.Set(_ => _.Type = MavType.MavTypeAdsb);
+        Heartbeat.Set(p => p.Type = MavType.MavTypeAdsb);
     }
 
     public IAdsbVehicleServer Adsb { get; }

src/Asv.Mavlink/Devices/Base/Client/ClientDevice.cs

@@ -5,7 +5,9 @@
 using System.Threading;
 using System.Threading.Tasks;
 using Asv.Common;
-using NLog;
+using Microsoft.Extensions.Logging;
+using Microsoft.Extensions.Logging.Abstractions;
+using ZLogger;
 
 namespace Asv.Mavlink;
 
@@ -23,14 +25,16 @@ public abstract class ClientDevice: DisposableOnceWithCancel, IClientDevice
     private readonly RxValue<string> _name;
     private bool _needToRequestAgain = true;
     private int _isRequestInfoIsInProgressOrAlreadySuccess;
-    private static readonly Logger Logger = LogManager.GetCurrentClassLogger();
-    
+    private readonly ILogger _loggerBase;
+
     protected ClientDevice(IMavlinkV2Connection connection,
         MavlinkClientIdentity identity,
         ClientDeviceConfig config,
         IPacketSequenceCalculator seq,
-        IScheduler? scheduler = null)
+        IScheduler? scheduler = null, 
+        ILogger? logger = null)
     {
+        _loggerBase = logger ?? NullLogger.Instance;
         Connection = connection;
         _config = config;
         _scheduler = scheduler;
@@ -43,18 +47,18 @@ protected ClientDevice(IMavlinkV2Connection connection,
         _onInit = new RxValue<InitState>(InitState.WaitConnection)
             .DisposeItWith(Disposable);
         Heartbeat.Link.DistinctUntilChanged()
-            .Where(_ => _ == LinkState.Disconnected)
+            .Where(s => s == LinkState.Disconnected)
             .Subscribe(_ => _needToRequestAgain = true).DisposeItWith(Disposable);
 
         if (scheduler != null)
         {
-            Heartbeat.Link.DistinctUntilChanged().Where(_ => _needToRequestAgain).Where(_ => _ == LinkState.Connected)
+            Heartbeat.Link.DistinctUntilChanged().Where(_ => _needToRequestAgain).Where(s => s == LinkState.Connected)
                 // only one time
                 .Delay(TimeSpan.FromMilliseconds(100),scheduler).Subscribe(_ => TryReconnect()).DisposeItWith(Disposable);
         }
         else
         {
-            Heartbeat.Link.DistinctUntilChanged().Where(_ => _needToRequestAgain).Where(_ => _ == LinkState.Connected)
+            Heartbeat.Link.DistinctUntilChanged().Where(_ => _needToRequestAgain).Where(s => s == LinkState.Connected)
                 // only one time
                 .Delay(TimeSpan.FromMilliseconds(100)).Subscribe(_ => TryReconnect()).DisposeItWith(Disposable);
         }
@@ -79,7 +83,7 @@ private async void TryReconnect()
         catch (Exception e)
         {
             if (IsDisposed) return; // no need to replay since the instance was already disposed
-            Logger.Error( $"Error to init device:{e.Message}");
+            _loggerBase.ZLogError(e, $"Error to init device:{e.Message}");
             _onInit.OnNext(InitState.Failed);
             if (_scheduler != null)
             {

src/Asv.Mavlink/Devices/Base/Client/IClientDevice.cs

@@ -1,7 +1,5 @@
 using System;
 using System.Reactive.Linq;
-using System.Runtime.InteropServices.ComTypes;
-using System.Threading;
 using System.Threading.Tasks;
 using Asv.Common;
 
@@ -98,7 +96,7 @@ public static class ClientDeviceHelper
     public static void WaitUntilConnect(this IClientDevice client, int timeoutMs = 3000)
     {
         var tcs = new TaskCompletionSource();
-        using var subscribe = client.Heartbeat.Link.Where(_ => _ == LinkState.Connected).FirstAsync().Subscribe(_ =>
+        using var subscribe = client.Heartbeat.Link.Where(s => s == LinkState.Connected).FirstAsync().Subscribe(_ =>
         {
             tcs.TrySetResult();
         });
@@ -113,7 +111,7 @@ public static void WaitUntilConnectAndInit(this IVehicleClient client, int timeo
     {
         client.WaitUntilConnect(timeoutMs);
         var tcs = new TaskCompletionSource();
-        using var subscribe = client.OnInit.Where(_ => _ == InitState.Complete).FirstAsync().Subscribe(_ =>
+        using var subscribe = client.OnInit.Where(s => s == InitState.Complete).FirstAsync().Subscribe(_ =>
         {
             tcs.TrySetResult();
         });

src/Asv.Mavlink/Devices/Gbs/Client/GbsClientDevice.cs

@@ -4,7 +4,9 @@
 using System.Reactive.Linq;
 using System.Threading.Tasks;
 using Asv.Common;
-using NLog;
+using Microsoft.Extensions.Logging;
+using Microsoft.Extensions.Logging.Abstractions;
+using ZLogger;
 
 namespace Asv.Mavlink;
 
@@ -17,15 +19,19 @@ public class GbsClientDeviceConfig:ClientDeviceConfig
 public class GbsClientDevice : ClientDevice, IGbsClientDevice
 {
     private readonly GbsClientDeviceConfig _config;
-    private static readonly Logger _logger = LogManager.GetCurrentClassLogger();
     private readonly ParamsClientEx _params;
+    private readonly ILogger _logger;
+
     public GbsClientDevice(IMavlinkV2Connection connection,
         MavlinkClientIdentity identity,
         IPacketSequenceCalculator seq,
         GbsClientDeviceConfig config,
-        IScheduler? scheduler = null) : base(connection, identity,config, seq, scheduler)
+        IScheduler? scheduler = null, 
+        ILogger? logger = null) : base(connection, identity,config, seq, scheduler, logger)
     {
         _config = config;
+        _logger = logger ?? NullLogger.Instance;
+        scheduler ??= Scheduler.Default;
         Command = new CommandClient(connection, identity, seq, config.Command).DisposeItWith(Disposable);
         var gbs = new AsvGbsClient(connection,identity,seq,scheduler).DisposeItWith(Disposable);
         Gbs = new AsvGbsExClient(gbs,Heartbeat,Command).DisposeItWith(Disposable);
@@ -44,7 +50,7 @@ protected override async Task InternalInit()
         _params.Init(MavParamHelper.ByteWiseEncoding, ArraySegment<ParamDescription>.Empty);
         try
         {
-            _logger.Trace($"Try to read serial number from param {_config.SerialNumberParamName}");
+            _logger.ZLogInformation($"Try to read serial number from param {_config.SerialNumberParamName}");
             Params.Filter(_config.SerialNumberParamName)
                 .Select(serial => $"RTK GBS [{(int)serial:D5}]")
                 .Subscribe(EditableName)
@@ -53,7 +59,7 @@ protected override async Task InternalInit()
         }
         catch (Exception e)
         {
-            _logger.Warn($"Error to get serial number:{e.Message}");
+            _logger.ZLogError(e, $"Error to get serial number:{e.Message}");
         }
     }
 

src/Asv.Mavlink/Devices/Radio/Client/RadioClientDevice.cs

@@ -4,7 +4,9 @@
 using System.Reactive.Linq;
 using System.Threading.Tasks;
 using Asv.Common;
-using NLog;
+using Microsoft.Extensions.Logging;
+using Microsoft.Extensions.Logging.Abstractions;
+using ZLogger;
 
 namespace Asv.Mavlink;
 
@@ -20,13 +22,20 @@ public class RadioClientDevice : ClientDevice, IRadioClientDevice
 {
     private readonly RadioClientDeviceConfig _config;
     private readonly ParamsClientEx _params;
-    private static readonly Logger _logger = LogManager.GetCurrentClassLogger();
+    private readonly ILogger _logger;
 
-    public RadioClientDevice(IAudioCodecFactory factory, IMavlinkV2Connection connection, MavlinkClientIdentity identity, IPacketSequenceCalculator seq,RadioClientDeviceConfig config, IScheduler? scheduler = null)
-        : base(connection, identity, config, seq, scheduler)
+    public RadioClientDevice(
+        IAudioCodecFactory factory, 
+        IMavlinkV2Connection connection, 
+        MavlinkClientIdentity identity, 
+        IPacketSequenceCalculator seq,
+        RadioClientDeviceConfig config, 
+        IScheduler? scheduler = null, 
+        ILogger? logger = null)
+        : base(connection, identity, config, seq, scheduler, logger)
     {
+        _logger ??= NullLogger.Instance;
         _config = config ?? throw new ArgumentNullException(nameof(config));
-
         Command = new CommandClient(connection, identity, seq, config.Command).DisposeItWith(Disposable);
         var client = new AsvRadioClient(connection, identity,seq).DisposeItWith(Disposable);
         Radio = new AsvRadioClientEx(client, Heartbeat, Command).DisposeItWith(Disposable);
@@ -42,7 +51,8 @@ protected override async Task InternalInit()
         _params.Init(MavParamHelper.ByteWiseEncoding, ArraySegment<ParamDescription>.Empty);
         try
         {
-            _logger.Trace($"Try to read serial number from param {_config.SerialNumberParamName}");
+            _logger.ZLogTrace($"Try to read serial number from param {_config.SerialNumberParamName}");
+
             Params.Filter(_config.SerialNumberParamName)
                 .Select(serial => $"RADIO [{(int)serial:D5}]")
                 .Subscribe(EditableName)
@@ -51,7 +61,7 @@ protected override async Task InternalInit()
         }
         catch (Exception e)
         {
-            _logger.Warn($"Error to get RADIO serial number:{e.Message}");
+            _logger.ZLogWarning($"Error to get RADIO serial number:{e.Message}");
         }
     }
 

src/Asv.Mavlink/Devices/Rfsa/Client/RfsaClientDevice.cs

@@ -6,7 +6,9 @@
 using Asv.Common;
 using Asv.Mavlink.Diagnostic.Client;
 using Asv.Mavlink.V2.Common;
-using NLog;
+using Microsoft.Extensions.Logging;
+using Microsoft.Extensions.Logging.Abstractions;
+using ZLogger;
 
 namespace Asv.Mavlink;
 
@@ -23,15 +25,23 @@ public class RfsaClientDeviceConfig:ClientDeviceConfig
 public class RfsaClientDevice:ClientDevice, IRfsaClientDevice
 {
     private readonly RfsaClientDeviceConfig _config;
-    private static readonly Logger _logger = LogManager.GetCurrentClassLogger();
+    private readonly ILogger _logger;
     private readonly ParamsClientEx _params;
     private readonly AsvChartClient _charts;
     private readonly DiagnosticClient _diagnostics;
 
-    public RfsaClientDevice(IMavlinkV2Connection link, MavlinkClientIdentity identity, RfsaClientDeviceConfig config, IPacketSequenceCalculator seq, IScheduler scheduler)
-        :base(link,identity,config,seq,scheduler)
+    public RfsaClientDevice(
+        IMavlinkV2Connection link, 
+        MavlinkClientIdentity identity, 
+        RfsaClientDeviceConfig config, 
+        IPacketSequenceCalculator seq, 
+        IScheduler? scheduler = null,
+        ILogger? logger = null)
+        :base(link,identity,config,seq,scheduler,logger)
     {
         _config = config;
+        _logger = logger ?? NullLogger.Instance;
+        scheduler ??= Scheduler.Default;
         Command = new CommandClient(link, identity, seq, config.Command).DisposeItWith(Disposable);
         var paramBase = new ParamsClient(link, identity, seq, config.Params).DisposeItWith(Disposable);
         _params = new ParamsClientEx(paramBase, config.Params).DisposeItWith(Disposable);
@@ -44,7 +54,7 @@ protected override async Task InternalInit()
         _params.Init(MavParamHelper.ByteWiseEncoding, ArraySegment<ParamDescription>.Empty);
         try
         {
-            _logger.Trace($"Try to read serial number from param {_config.SerialNumberParamName}");
+            _logger.ZLogTrace($"Try to read serial number from param {_config.SerialNumberParamName}");
             Params.Filter(_config.SerialNumberParamName)
                 .Select(serial => $"RFSA [{(int)serial:D5}]")
                 .Subscribe(EditableName)
@@ -53,7 +63,7 @@ protected override async Task InternalInit()
         }
         catch (Exception e)
         {
-            _logger.Warn($"Error to get serial number:{e.Message}");
+            _logger.ZLogWarning($"Error to get serial number:{e.Message}");
         }
     }
     public IParamsClientEx Params => _params;

src/Asv.Mavlink/Devices/Rsga/Client/IRsgaClientDevice.cs

@@ -1,9 +1,4 @@
-using System;
-using System.Threading;
-using System.Threading.Tasks;
-using Asv.Mavlink.Diagnostic.Client;
-using Asv.Mavlink.V2.AsvRsga;
-using Asv.Mavlink.V2.Common;
+using Asv.Mavlink.Diagnostic.Client;
 
 namespace Asv.Mavlink;
 

src/Asv.Mavlink/Devices/Rsga/Client/RsgaClientDevice.cs

@@ -4,7 +4,9 @@
 using System.Threading.Tasks;
 using Asv.Common;
 using Asv.Mavlink.Diagnostic.Client;
-using NLog;
+using Microsoft.Extensions.Logging;
+using Microsoft.Extensions.Logging.Abstractions;
+using ZLogger;
 
 namespace Asv.Mavlink;
 
@@ -21,17 +23,25 @@ public class RsgaClientDeviceConfig:ClientDeviceConfig
 public class RsgaClientDevice : ClientDevice, IRsgaClientDevice
 {
     private readonly RsgaClientDeviceConfig _config;
-    private static readonly Logger _logger = LogManager.GetCurrentClassLogger();
+    private readonly ILogger _logger;
     private readonly ParamsClientEx _params;
     private readonly AsvChartClient _charts;
     private readonly DiagnosticClient _diagnostics;
     private readonly CommandClient _command;
     private readonly AsvRsgaClientEx _rsga;
 
-    public RsgaClientDevice(IMavlinkV2Connection link, MavlinkClientIdentity identity, RsgaClientDeviceConfig config, IPacketSequenceCalculator seq, IScheduler scheduler)
-        :base(link,identity,config,seq,scheduler)
+    public RsgaClientDevice(
+        IMavlinkV2Connection link, 
+        MavlinkClientIdentity identity, 
+        RsgaClientDeviceConfig config, 
+        IPacketSequenceCalculator seq, 
+        IScheduler? scheduler = null, 
+        ILogger? logger = null)
+        :base(link,identity,config,seq,scheduler,logger)
     {
         _config = config;
+        _logger = logger ?? NullLogger.Instance;
+        scheduler ??= Scheduler.Default;
         _command = new CommandClient(link, identity, seq, config.Command).DisposeItWith(Disposable);
         var paramBase = new ParamsClient(link, identity, seq, config.Params).DisposeItWith(Disposable);
         _params = new ParamsClientEx(paramBase, config.Params).DisposeItWith(Disposable);
@@ -46,9 +56,9 @@ protected override async Task InternalInit()
         _params.Init(MavParamHelper.ByteWiseEncoding, ArraySegment<ParamDescription>.Empty);
         try
         {
-            _logger.Trace($"Try to read compatibilities.");
+            _logger.ZLogTrace($"Try to read compatibilities.");
             await Rsga.Base.GetCompatibilities().ConfigureAwait(false);
-            _logger.Trace($"Try to read serial number from param {_config.SerialNumberParamName}");
+            _logger.ZLogTrace($"Try to read serial number from param {_config.SerialNumberParamName}");
             Params.Filter(_config.SerialNumberParamName)
                 .Select(serial => $"RSGA [{(int)serial:D5}]")
                 .Subscribe(EditableName)
@@ -58,7 +68,7 @@ protected override async Task InternalInit()
         }
         catch (Exception e)
         {
-            _logger.Warn($"Error to get serial number:{e.Message}");
+            _logger.ZLogWarning($"Error to get serial number:{e.Message}");
         }
     }
     public IParamsClientEx Params => _params;