gentoo resync : 25.08.2020

5 files changed, 13 insertions, 533 deletions

diff --git a/dev-ros/libmavconn/Manifest b/dev-ros/libmavconn/Manifest
index c1431707e56c..33579d0fb898 100644
--- a/dev-ros/libmavconn/Manifest
+++ b/dev-ros/libmavconn/Manifest
@@ -1,6 +1,4 @@
-AUX boost170.patch 3754 BLAKE2B 7e4d5be1898f70f7075cc51b36d143f3fd4feeceab6658926d6b0ba9030b0cc3d5ccbbfe624f914698eda0bcfdc748543e35f8de2cda59133b1d0cfe813bb119 SHA512 f3d0f1bdd19f08077e5650d02997028ad044594c185994e8df08903602199bb9b063d1623a807920b8d07c91b468c1b3ac34a806aec7b40ed15e9b70a0eb60c4
-AUX logging.patch 16008 BLAKE2B ac82381998cfc3b204f745b79cba6128751dd511b0d89d50f5317c82138cd06d51e627706ce533f205a731202e32838a8c7a7b3bb7c85011d6e9c698a4d1f792 SHA512 08e64047cbc613982be4bd34c07916df2e90a96f9f6873969be7dfd265f2d6ce4956669be7c57c38f23314fd4634b5569aec17618d412d0662ae5baf8f590433
-DIST mavros-0.19.0.tar.gz 219739 BLAKE2B 4e9a47fa4cdbf11b530bdc39a8048b1834689039af3005d30ffcc2b626651612db12ecc1929ecaf994c5a887224bcf2b0469d1e15ed5b353be4132fb0f523a96 SHA512 87b1b77505d3606196d609a016bcb89b3831e982f8352a13f69f5c2580f46ac603edb2d3c2ce4df5cdd1424172145b88d2b35d149c2be507eb0f23039e7e45a7
-EBUILD libmavconn-0.19.0-r1.ebuild 499 BLAKE2B 3c0d8430aa3e771ad35d32d4d4970e950a82d3390129d3f17853d5f39c1479f72483d8f9311ff6229c4becc587e865304aff22374e85b54bf90c339f45be7979 SHA512 cf6f5d7ed4972f115f374993a04bdb5e2c855a592133e47ba684bd2c54ce7e6d5cf0678093a34e5a81475c55ca8d95be838c86718862107d502d9fd08af6ab92
-EBUILD libmavconn-9999.ebuild 431 BLAKE2B a98c07058726ca23ea9c93d4d072b51d94dbe9472f78caccd72b3e857250f18737981a4cfa2fc48c1c1c75db9313a4b129cd66320b9e82ccee04dc28616b905f SHA512 5d0ade0e7b70ff32b9fb2fed6041e2e9610a03deac57205a5e7136bc8ef9f27aa5a98a07e76e5d362784f37b4d5eb98a03184ededbd6dd39bd50f93531ace235
+DIST mavros-1.2.0.tar.gz 309704 BLAKE2B 85fa9079e6e26a5507878a092f671dfc387f52c65b9d1b2ba1f66d98439369550807b8afe3c99e276725b0c14d479eb1df2bd75870f2b78fe6e95c6020355cc9 SHA512 b37e3713ab15bdac23e88f3e7111821c7eaaaa263d7354852a18dd1e9f6f782a2e9450b29264536b8d712ab04021ddd84d82deeb932715d8e486dc019bb6f374
+EBUILD libmavconn-1.2.0.ebuild 454 BLAKE2B 2714c2f1b81848d481f64267b025275e129129e03d3f174e1043b7f45b6a1b25fdd3f33e8e4a0b3d1eed837a6ed6bb46b9a5cc82adc8c89d7bacc21039a025ca SHA512 2cbe5315f4c5591cb15d566f82b5b553ff40cb618560ee1f239b0229c4611440206d7631083f463e455e3446ad2d93a1da66c8a6f8414cc28a6c2c267512a79f
+EBUILD libmavconn-9999.ebuild 454 BLAKE2B 2714c2f1b81848d481f64267b025275e129129e03d3f174e1043b7f45b6a1b25fdd3f33e8e4a0b3d1eed837a6ed6bb46b9a5cc82adc8c89d7bacc21039a025ca SHA512 2cbe5315f4c5591cb15d566f82b5b553ff40cb618560ee1f239b0229c4611440206d7631083f463e455e3446ad2d93a1da66c8a6f8414cc28a6c2c267512a79f
 MISC metadata.xml 328 BLAKE2B d7ed4dde907bc9dd5533e4a54e90939df954d6af2c0fac66156b21309508546a4eccf8ebaef5d70e42a30ec99091f6cadd52b90199e65e05bcf8fe92069d2ab7 SHA512 a4d2ca220b3dea64853e31e188202fdde1e3533d50659e8c5b8593a1067bf88dcd7f6881e8691f91c99d8502e8739ffa13c5bcead139763109ff304736328b2e
diff --git a/dev-ros/libmavconn/files/boost170.patch b/dev-ros/libmavconn/files/boost170.patch
deleted file mode 100644
index 357025d90af5..000000000000
--- a/dev-ros/libmavconn/files/boost170.patch
+++ /dev/null
@@ -1,98 +0,0 @@
-Index: libmavconn/src/tcp.cpp
-===================================================================
---- libmavconn.orig/src/tcp.cpp
-+++ libmavconn/src/tcp.cpp
-@@ -41,13 +41,19 @@ static bool resolve_address_tcp(io_servi
- 	error_code ec;
- 
- 	tcp::resolver::query query(host, "");
--	std::for_each(resolver.resolve(query, ec), tcp::resolver::iterator(),
--			[&](const tcp::endpoint & q_ep) {
--				ep = q_ep;
--				ep.port(port);
--				result = true;
--				CONSOLE_BRIDGE_logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
--			});
-+
-+	auto fn = [&](const tcp::endpoint & q_ep) {
-+		ep = q_ep;
-+		ep.port(port);
-+		result = true;
-+		CONSOLE_BRIDGE_logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
-+	};
-+
-+#if BOOST_ASIO_VERSION >= 101200
-+	for (auto q_ep : resolver.resolve(query, ec)) fn(q_ep);
-+#else
-+	std::for_each(resolver.resolve(query, ec), tcp::resolver::iterator(), fn);
-+#endif
- 
- 	if (ec) {
- 		CONSOLE_BRIDGE_logWarn(PFXd "resolve error: %s", chan, ec.message().c_str());
-@@ -112,7 +118,7 @@ void MAVConnTCPClient::client_connected(
- 			server_channel, conn_id, to_string_ss(server_ep).c_str());
- 
- 	// start recv
--	socket.get_io_service().post(std::bind(&MAVConnTCPClient::do_recv, shared_from_this()));
-+	static_cast<boost::asio::io_service&>(socket.get_executor().context()).post(std::bind(&MAVConnTCPClient::do_recv, shared_from_this()));
- }
- 
- MAVConnTCPClient::~MAVConnTCPClient()
-@@ -152,7 +158,7 @@ void MAVConnTCPClient::send_bytes(const
- 
- 		tx_q.emplace_back(bytes, length);
- 	}
--	socket.get_io_service().post(std::bind(&MAVConnTCPClient::do_send, shared_from_this(), true));
-+	static_cast<boost::asio::io_service&>(socket.get_executor().context()).post(std::bind(&MAVConnTCPClient::do_send, shared_from_this(), true));
- }
- 
- void MAVConnTCPClient::send_message(const mavlink_message_t *message)
-@@ -174,7 +180,7 @@ void MAVConnTCPClient::send_message(cons
- 
- 		tx_q.emplace_back(message);
- 	}
--	socket.get_io_service().post(std::bind(&MAVConnTCPClient::do_send, shared_from_this(), true));
-+	static_cast<boost::asio::io_service&>(socket.get_executor().context()).post(std::bind(&MAVConnTCPClient::do_send, shared_from_this(), true));
- }
- 
- void MAVConnTCPClient::send_message(const mavlink::Message &message)
-@@ -194,7 +200,7 @@ void MAVConnTCPClient::send_message(cons
- 
- 		tx_q.emplace_back(message, get_status_p(), sys_id, comp_id);
- 	}
--	socket.get_io_service().post(std::bind(&MAVConnTCPClient::do_send, shared_from_this(), true));
-+	static_cast<boost::asio::io_service&>(socket.get_executor().context()).post(std::bind(&MAVConnTCPClient::do_send, shared_from_this(), true));
- }
- 
- void MAVConnTCPClient::do_recv()
-Index: libmavconn/src/udp.cpp
-===================================================================
---- libmavconn.orig/src/udp.cpp
-+++ libmavconn/src/udp.cpp
-@@ -41,13 +41,19 @@ static bool resolve_address_udp(io_servi
- 	error_code ec;
- 
- 	udp::resolver::query query(host, "");
--	std::for_each(resolver.resolve(query, ec), udp::resolver::iterator(),
--			[&](const udp::endpoint & q_ep) {
--				ep = q_ep;
--				ep.port(port);
--				result = true;
--				CONSOLE_BRIDGE_logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
--			});
-+
-+	auto fn = [&](const udp::endpoint & q_ep) {
-+		ep = q_ep;
-+		ep.port(port);
-+		result = true;
-+		CONSOLE_BRIDGE_logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
-+	};
-+
-+#if BOOST_ASIO_VERSION >= 101200
-+	for (auto q_ep : resolver.resolve(query, ec)) fn(q_ep);
-+#else
-+	std::for_each(resolver.resolve(query, ec), udp::resolver::iterator(), fn);
-+#endif
- 
- 	if (ec) {
- 		CONSOLE_BRIDGE_logWarn(PFXd "resolve error: %s", chan, ec.message().c_str());
diff --git a/dev-ros/libmavconn/files/logging.patch b/dev-ros/libmavconn/files/logging.patch
deleted file mode 100644
index 3396a23c04df..000000000000
--- a/dev-ros/libmavconn/files/logging.patch
+++ /dev/null
@@ -1,420 +0,0 @@
-Index: libmavconn/src/interface.cpp
-===================================================================
---- libmavconn.orig/src/interface.cpp
-+++ libmavconn/src/interface.cpp
-@@ -133,7 +133,7 @@ void MAVConnInterface::log_recv(const ch
- 
- 	const char *proto_version_str = (msg.magic == MAVLINK_STX) ? "v2.0" : "v1.0";
- 
--	logDebug("%s%zu: recv: %s %4s Message-Id: %u [%u bytes] IDs: %u.%u Seq: %u",
-+	CONSOLE_BRIDGE_logDebug("%s%zu: recv: %s %4s Message-Id: %u [%u bytes] IDs: %u.%u Seq: %u",
- 			pfx, conn_id,
- 			proto_version_str,
- 			framing_str,
-@@ -144,7 +144,7 @@ void MAVConnInterface::log_send(const ch
- {
- 	const char *proto_version_str = (msg->magic == MAVLINK_STX) ? "v2.0" : "v1.0";
- 
--	logDebug("%s%zu: send: %s Message-Id: %u [%u bytes] IDs: %u.%u Seq: %u",
-+	CONSOLE_BRIDGE_logDebug("%s%zu: send: %s Message-Id: %u [%u bytes] IDs: %u.%u Seq: %u",
- 			pfx, conn_id,
- 			proto_version_str,
- 			msg->msgid, msg->len, msg->sysid, msg->compid, msg->seq);
-@@ -152,7 +152,7 @@ void MAVConnInterface::log_send(const ch
- 
- void MAVConnInterface::log_send_obj(const char *pfx, const mavlink::Message &msg)
- {
--	logDebug("%s%zu: send: %s", pfx, conn_id, msg.to_yaml().c_str());
-+	CONSOLE_BRIDGE_logDebug("%s%zu: send: %s", pfx, conn_id, msg.to_yaml().c_str());
- }
- 
- void MAVConnInterface::send_message_ignore_drop(const mavlink::mavlink_message_t *msg)
-@@ -161,7 +161,7 @@ void MAVConnInterface::send_message_igno
- 		send_message(msg);
- 	}
- 	catch (std::length_error &e) {
--		logError(PFX "%zu: DROPPED Message-Id %u [%u bytes] IDs: %u.%u Seq: %u: %s",
-+		CONSOLE_BRIDGE_logError(PFX "%zu: DROPPED Message-Id %u [%u bytes] IDs: %u.%u Seq: %u: %s",
- 				conn_id,
- 				msg->msgid, msg->len, msg->sysid, msg->compid, msg->seq,
- 				e.what());
-@@ -174,7 +174,7 @@ void MAVConnInterface::send_message_igno
- 		send_message(msg);
- 	}
- 	catch (std::length_error &e) {
--		logError(PFX "%zu: DROPPED Message %s: %s",
-+		CONSOLE_BRIDGE_logError(PFX "%zu: DROPPED Message %s: %s",
- 				conn_id,
- 				msg.get_name().c_str(),
- 				e.what());
-@@ -247,14 +247,14 @@ static void url_parse_query(std::string
- 	auto ids_it = std::search(query.begin(), query.end(),
- 			ids_end.begin(), ids_end.end());
- 	if (ids_it == query.end()) {
--		logWarn(PFX "URL: unknown query arguments");
-+		CONSOLE_BRIDGE_logWarn(PFX "URL: unknown query arguments");
- 		return;
- 	}
- 
- 	std::advance(ids_it, ids_end.length());
- 	auto comma_it = std::find(ids_it, query.end(), ',');
- 	if (comma_it == query.end()) {
--		logError(PFX "URL: no comma in ids= query");
-+		CONSOLE_BRIDGE_logError(PFX "URL: no comma in ids= query");
- 		return;
- 	}
- 
-@@ -264,7 +264,7 @@ static void url_parse_query(std::string
- 	sysid = std::stoi(sys);
- 	compid = std::stoi(comp);
- 
--	logDebug(PFX "URL: found system/component id = [%u, %u]", sysid, compid);
-+	CONSOLE_BRIDGE_logDebug(PFX "URL: found system/component id = [%u, %u]", sysid, compid);
- }
- 
- static MAVConnInterface::Ptr url_parse_serial(
-@@ -292,7 +292,7 @@ static MAVConnInterface::Ptr url_parse_u
- 
- 	auto sep_it = std::find(hosts.begin(), hosts.end(), '@');
- 	if (sep_it == hosts.end()) {
--		logError(PFX "UDP URL should contain @!");
-+		CONSOLE_BRIDGE_logError(PFX "UDP URL should contain @!");
- 		throw DeviceError("url", "UDP separator not found");
- 	}
- 
-@@ -360,7 +360,7 @@ MAVConnInterface::Ptr MAVConnInterface::
- 			proto_end.begin(), proto_end.end());
- 	if (proto_it == url.end()) {
- 		// looks like file path
--		logDebug(PFX "URL: %s: looks like file path", url.c_str());
-+		CONSOLE_BRIDGE_logDebug(PFX "URL: %s: looks like file path", url.c_str());
- 		return url_parse_serial(url, "", system_id, component_id, false);
- 	}
- 
-@@ -384,7 +384,7 @@ MAVConnInterface::Ptr MAVConnInterface::
- 		++query_it;
- 	query.assign(query_it, url.end());
- 
--	logDebug(PFX "URL: %s: proto: %s, host: %s, path: %s, query: %s",
-+	CONSOLE_BRIDGE_logDebug(PFX "URL: %s: proto: %s, host: %s, path: %s, query: %s",
- 			url.c_str(), proto.c_str(), host.c_str(),
- 			path.c_str(), query.c_str());
- 
-Index: libmavconn/src/mavlink_helpers.cpp.em
-===================================================================
---- libmavconn.orig/src/mavlink_helpers.cpp.em
-+++ libmavconn/src/mavlink_helpers.cpp.em
-@@ -27,20 +27,20 @@ using mavconn::MAVConnInterface;
- 
- void MAVConnInterface::init_msg_entry()
- {
--	logDebug("mavconn: Initialize message_entries map");
-+	CONSOLE_BRIDGE_logDebug("mavconn: Initialize message_entries map");
- 
- 	auto load = [&](const char *dialect, const mavlink::mavlink_msg_entry_t & e) {
- 		auto it = message_entries.find(e.msgid);
- 		if (it != message_entries.end()) {
- 			if (memcmp(&e, it->second, sizeof(e)) != 0) {
--				logWarn("mavconn: init: message from %s, MSG-ID %d ignored! Table has different entry.", dialect, e.msgid);
-+				CONSOLE_BRIDGE_logWarn("mavconn: init: message from %s, MSG-ID %d ignored! Table has different entry.", dialect, e.msgid);
- 			}
- 			else {
--				logDebug("mavconn: init: message from %s, MSG-ID %d in table.", dialect, e.msgid);
-+				CONSOLE_BRIDGE_logDebug("mavconn: init: message from %s, MSG-ID %d in table.", dialect, e.msgid);
- 			}
- 		}
- 		else {
--			logDebug("mavconn: init: add message entry for %s, MSG-ID %d", dialect, e.msgid);
-+			CONSOLE_BRIDGE_logDebug("mavconn: init: add message entry for %s, MSG-ID %d", dialect, e.msgid);
- 			message_entries[e.msgid] = &e;
- 		}
- 	};
-Index: libmavconn/src/serial.cpp
-===================================================================
---- libmavconn.orig/src/serial.cpp
-+++ libmavconn/src/serial.cpp
-@@ -43,7 +43,7 @@ MAVConnSerial::MAVConnSerial(uint8_t sys
- {
- 	using SPB = boost::asio::serial_port_base;
- 
--	logInform(PFXd "device: %s @ %d bps", conn_id, device.c_str(), baudrate);
-+	CONSOLE_BRIDGE_logInform(PFXd "device: %s @ %d bps", conn_id, device.c_str(), baudrate);
- 
- 	try {
- 		serial_dev.open(device);
-@@ -95,7 +95,7 @@ void MAVConnSerial::close()
- void MAVConnSerial::send_bytes(const uint8_t *bytes, size_t length)
- {
- 	if (!is_open()) {
--		logError(PFXd "send: channel closed!", conn_id);
-+		CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
- 		return;
- 	}
- 
-@@ -115,7 +115,7 @@ void MAVConnSerial::send_message(const m
- 	assert(message != nullptr);
- 
- 	if (!is_open()) {
--		logError(PFXd "send: channel closed!", conn_id);
-+		CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
- 		return;
- 	}
- 
-@@ -135,7 +135,7 @@ void MAVConnSerial::send_message(const m
- void MAVConnSerial::send_message(const mavlink::Message &message)
- {
- 	if (!is_open()) {
--		logError(PFXd "send: channel closed!", conn_id);
-+		CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
- 		return;
- 	}
- 
-@@ -159,7 +159,7 @@ void MAVConnSerial::do_read(void)
- 			buffer(rx_buf),
- 			[sthis] (error_code error, size_t bytes_transferred) {
- 				if (error) {
--					logError(PFXd "receive: %s", sthis->conn_id, error.message().c_str());
-+					CONSOLE_BRIDGE_logError(PFXd "receive: %s", sthis->conn_id, error.message().c_str());
- 					sthis->close();
- 					return;
- 				}
-@@ -187,7 +187,7 @@ void MAVConnSerial::do_write(bool check_
- 				assert(bytes_transferred <= buf_ref.len);
- 
- 				if (error) {
--					logError(PFXd "write: %s", sthis->conn_id, error.message().c_str());
-+					CONSOLE_BRIDGE_logError(PFXd "write: %s", sthis->conn_id, error.message().c_str());
- 					sthis->close();
- 					return;
- 				}
-Index: libmavconn/src/tcp.cpp
-===================================================================
---- libmavconn.orig/src/tcp.cpp
-+++ libmavconn/src/tcp.cpp
-@@ -46,11 +46,11 @@ static bool resolve_address_tcp(io_servi
- 				ep = q_ep;
- 				ep.port(port);
- 				result = true;
--				logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
-+				CONSOLE_BRIDGE_logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
- 			});
- 
- 	if (ec) {
--		logWarn(PFXd "resolve error: %s", chan, ec.message().c_str());
-+		CONSOLE_BRIDGE_logWarn(PFXd "resolve error: %s", chan, ec.message().c_str());
- 		result = false;
- 	}
- 
-@@ -73,7 +73,7 @@ MAVConnTCPClient::MAVConnTCPClient(uint8
- 	if (!resolve_address_tcp(io_service, conn_id, server_host, server_port, server_ep))
- 		throw DeviceError("tcp: resolve", "Bind address resolve failed");
- 
--	logInform(PFXd "Server address: %s", conn_id, to_string_ss(server_ep).c_str());
-+	CONSOLE_BRIDGE_logInform(PFXd "Server address: %s", conn_id, to_string_ss(server_ep).c_str());
- 
- 	try {
- 		socket.open(tcp::v4());
-@@ -108,7 +108,7 @@ MAVConnTCPClient::MAVConnTCPClient(uint8
- 
- void MAVConnTCPClient::client_connected(size_t server_channel)
- {
--	logInform(PFXd "Got client, id: %zu, address: %s",
-+	CONSOLE_BRIDGE_logInform(PFXd "Got client, id: %zu, address: %s",
- 			server_channel, conn_id, to_string_ss(server_ep).c_str());
- 
- 	// start recv
-@@ -140,7 +140,7 @@ void MAVConnTCPClient::close()
- void MAVConnTCPClient::send_bytes(const uint8_t *bytes, size_t length)
- {
- 	if (!is_open()) {
--		logError(PFXd "send: channel closed!", conn_id);
-+		CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
- 		return;
- 	}
- 
-@@ -160,7 +160,7 @@ void MAVConnTCPClient::send_message(cons
- 	assert(message != nullptr);
- 
- 	if (!is_open()) {
--		logError(PFXd "send: channel closed!", conn_id);
-+		CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
- 		return;
- 	}
- 
-@@ -180,7 +180,7 @@ void MAVConnTCPClient::send_message(cons
- void MAVConnTCPClient::send_message(const mavlink::Message &message)
- {
- 	if (!is_open()) {
--		logError(PFXd "send: channel closed!", conn_id);
-+		CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
- 		return;
- 	}
- 
-@@ -204,7 +204,7 @@ void MAVConnTCPClient::do_recv()
- 			buffer(rx_buf),
- 			[sthis] (error_code error, size_t bytes_transferred) {
- 				if (error) {
--					logError(PFXd "receive: %s", sthis->conn_id, error.message().c_str());
-+					CONSOLE_BRIDGE_logError(PFXd "receive: %s", sthis->conn_id, error.message().c_str());
- 					sthis->close();
- 					return;
- 				}
-@@ -232,7 +232,7 @@ void MAVConnTCPClient::do_send(bool chec
- 				assert(bytes_transferred <= buf_ref.len);
- 
- 				if (error) {
--					logError(PFXd "send: %s", sthis->conn_id, error.message().c_str());
-+					CONSOLE_BRIDGE_logError(PFXd "send: %s", sthis->conn_id, error.message().c_str());
- 					sthis->close();
- 					return;
- 				}
-@@ -269,7 +269,7 @@ MAVConnTCPServer::MAVConnTCPServer(uint8
- 	if (!resolve_address_tcp(io_service, conn_id, server_host, server_port, bind_ep))
- 		throw DeviceError("tcp-l: resolve", "Bind address resolve failed");
- 
--	logInform(PFXd "Bind address: %s", conn_id, to_string_ss(bind_ep).c_str());
-+	CONSOLE_BRIDGE_logInform(PFXd "Bind address: %s", conn_id, to_string_ss(bind_ep).c_str());
- 
- 	try {
- 		acceptor.open(tcp::v4());
-@@ -302,7 +302,7 @@ void MAVConnTCPServer::close()
- 	if (!is_open())
- 		return;
- 
--	logInform(PFXd "Terminating server. "
-+	CONSOLE_BRIDGE_logInform(PFXd "Terminating server. "
- 			"All connections will be closed.", conn_id);
- 
- 	io_service.stop();
-@@ -395,7 +395,7 @@ void MAVConnTCPServer::do_accept()
- 			acceptor_client->server_ep,
- 			[sthis, acceptor_client] (error_code error) {
- 				if (error) {
--					logError(PFXd "accept: %s", sthis->conn_id, error.message().c_str());
-+					CONSOLE_BRIDGE_logError(PFXd "accept: %s", sthis->conn_id, error.message().c_str());
- 					sthis->close();
- 					return;
- 				}
-@@ -416,7 +416,7 @@ void MAVConnTCPServer::client_closed(std
- {
- 	if (auto instp = weak_instp.lock()) {
- 		bool locked = mutex.try_lock();
--		logInform(PFXd "Client connection closed, id: %p, address: %s",
-+		CONSOLE_BRIDGE_logInform(PFXd "Client connection closed, id: %p, address: %s",
- 				conn_id, instp.get(), to_string_ss(instp->server_ep).c_str());
- 
- 		client_list.remove(instp);
-Index: libmavconn/src/udp.cpp
-===================================================================
---- libmavconn.orig/src/udp.cpp
-+++ libmavconn/src/udp.cpp
-@@ -46,11 +46,11 @@ static bool resolve_address_udp(io_servi
- 				ep = q_ep;
- 				ep.port(port);
- 				result = true;
--				logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
-+				CONSOLE_BRIDGE_logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
- 			});
- 
- 	if (ec) {
--		logWarn(PFXd "resolve error: %s", chan, ec.message().c_str());
-+		CONSOLE_BRIDGE_logWarn(PFXd "resolve error: %s", chan, ec.message().c_str());
- 		result = false;
- 	}
- 
-@@ -75,7 +75,7 @@ MAVConnUDP::MAVConnUDP(uint8_t system_id
- 	if (!resolve_address_udp(io_service, conn_id, bind_host, bind_port, bind_ep))
- 		throw DeviceError("udp: resolve", "Bind address resolve failed");
- 
--	logInform(PFXd "Bind address: %s", conn_id, to_string_ss(bind_ep).c_str());
-+	CONSOLE_BRIDGE_logInform(PFXd "Bind address: %s", conn_id, to_string_ss(bind_ep).c_str());
- 
- 	if (remote_host != "") {
- 		if (remote_host != BROADCAST_REMOTE_HOST)
-@@ -86,9 +86,9 @@ MAVConnUDP::MAVConnUDP(uint8_t system_id
- 		}
- 
- 		if (remote_exists)
--			logInform(PFXd "Remote address: %s", conn_id, to_string_ss(remote_ep).c_str());
-+			CONSOLE_BRIDGE_logInform(PFXd "Remote address: %s", conn_id, to_string_ss(remote_ep).c_str());
- 		else
--			logWarn(PFXd "Remote address resolve failed.", conn_id);
-+			CONSOLE_BRIDGE_logWarn(PFXd "Remote address resolve failed.", conn_id);
- 	}
- 
- 	try {
-@@ -144,12 +144,12 @@ void MAVConnUDP::close()
- void MAVConnUDP::send_bytes(const uint8_t *bytes, size_t length)
- {
- 	if (!is_open()) {
--		logError(PFXd "send: channel closed!", conn_id);
-+		CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
- 		return;
- 	}
- 
- 	if (!remote_exists) {
--		logDebug(PFXd "send: Remote not known, message dropped.", conn_id);
-+		CONSOLE_BRIDGE_logDebug(PFXd "send: Remote not known, message dropped.", conn_id);
- 		return;
- 	}
- 
-@@ -169,12 +169,12 @@ void MAVConnUDP::send_message(const mavl
- 	assert(message != nullptr);
- 
- 	if (!is_open()) {
--		logError(PFXd "send: channel closed!", conn_id);
-+		CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
- 		return;
- 	}
- 
- 	if (!remote_exists) {
--		logDebug(PFXd "send: Remote not known, message dropped.", conn_id);
-+		CONSOLE_BRIDGE_logDebug(PFXd "send: Remote not known, message dropped.", conn_id);
- 		return;
- 	}
- 
-@@ -194,12 +194,12 @@ void MAVConnUDP::send_message(const mavl
- void MAVConnUDP::send_message(const mavlink::Message &message)
- {
- 	if (!is_open()) {
--		logError(PFXd "send: channel closed!", conn_id);
-+		CONSOLE_BRIDGE_logError(PFXd "send: channel closed!", conn_id);
- 		return;
- 	}
- 
- 	if (!remote_exists) {
--		logDebug(PFXd "send: Remote not known, message dropped.", conn_id);
-+		CONSOLE_BRIDGE_logDebug(PFXd "send: Remote not known, message dropped.", conn_id);
- 		return;
- 	}
- 
-@@ -224,13 +224,13 @@ void MAVConnUDP::do_recvfrom()
- 			remote_ep,
- 			[sthis] (error_code error, size_t bytes_transferred) {
- 				if (error) {
--					logError(PFXd "receive: %s", sthis->conn_id, error.message().c_str());
-+					CONSOLE_BRIDGE_logError(PFXd "receive: %s", sthis->conn_id, error.message().c_str());
- 					sthis->close();
- 					return;
- 				}
- 
- 				if (sthis->remote_ep != sthis->last_remote_ep) {
--					logInform(PFXd "Remote address: %s", sthis->conn_id, to_string_ss(sthis->remote_ep).c_str());
-+					CONSOLE_BRIDGE_logInform(PFXd "Remote address: %s", sthis->conn_id, to_string_ss(sthis->remote_ep).c_str());
- 					sthis->remote_exists = true;
- 					sthis->last_remote_ep = sthis->remote_ep;
- 				}
-@@ -259,11 +259,11 @@ void MAVConnUDP::do_sendto(bool check_tx
- 				assert(bytes_transferred <= buf_ref.len);
- 
- 				if (error == boost::asio::error::network_unreachable) {
--					logWarn(PFXd "sendto: %s, retrying", sthis->conn_id, error.message().c_str());
-+					CONSOLE_BRIDGE_logWarn(PFXd "sendto: %s, retrying", sthis->conn_id, error.message().c_str());
- 					// do not return, try to resend
- 				}
- 				else if (error) {
--					logError(PFXd "sendto: %s", sthis->conn_id, error.message().c_str());
-+					CONSOLE_BRIDGE_logError(PFXd "sendto: %s", sthis->conn_id, error.message().c_str());
- 					sthis->close();
- 					return;
- 				}
diff --git a/dev-ros/libmavconn/libmavconn-0.19.0-r1.ebuild b/dev-ros/libmavconn/libmavconn-1.2.0.ebuild
index d42a92fd0e64..9a943481d549 100644
--- a/dev-ros/libmavconn/libmavconn-0.19.0-r1.ebuild
+++ b/dev-ros/libmavconn/libmavconn-1.2.0.ebuild
@@ -1,7 +1,7 @@
-# Copyright 1999-2019 Gentoo Authors
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/mavlink/mavros"
 KEYWORDS="~amd64 ~arm"
 ROS_SUBDIR=${PN}
@@ -18,8 +18,6 @@ RDEPEND="
 	dev-libs/boost:=
 	dev-libs/console_bridge:=
 "
-DEPEND="${RDEPEND}"
-PATCHES=(
-	"${FILESDIR}/logging.patch"
-	"${FILESDIR}/boost170.patch"
-)
+DEPEND="${RDEPEND}
+	test? ( dev-cpp/gtest )
+"
diff --git a/dev-ros/libmavconn/libmavconn-9999.ebuild b/dev-ros/libmavconn/libmavconn-9999.ebuild
index 9eb27fcc7ea7..9a943481d549 100644
--- a/dev-ros/libmavconn/libmavconn-9999.ebuild
+++ b/dev-ros/libmavconn/libmavconn-9999.ebuild
@@ -1,7 +1,7 @@
-# Copyright 1999-2017 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/mavlink/mavros"
 KEYWORDS="~amd64 ~arm"
 ROS_SUBDIR=${PN}
@@ -18,4 +18,6 @@ RDEPEND="
 	dev-libs/boost:=
 	dev-libs/console_bridge:=
 "
-DEPEND="${RDEPEND}"
+DEPEND="${RDEPEND}
+	test? ( dev-cpp/gtest )
+"