src/MeasurementComplexItem/MeasurementComplexItem.cc

@@ -41,6 +41,7 @@ const char *variantNamesKey = "VariantNames";
 const char *generatorArrayKey = "GeneratorArray";
 const char *variantArrayKey = "VariantArray";
 const char *generatorIndexKey = "GeneratorIndex";
+const char *connectionsStringKey = "ConnectionString";
 } // namespace
 
 MeasurementComplexItem::MeasurementComplexItem(
@@ -55,7 +56,8 @@ MeasurementComplexItem::MeasurementComplexItem(
       _variantIndex(settingsGroup, _metaDataMap[variantIndexKey]),
       _pAreaData(new AreaData(this)), _pEditorData(new AreaData(this)),
       _pCurrentData(_pAreaData), _holdProgress(false), _pGenerator(nullptr),
-      _pWorker(new RoutingThread(this)) {
+      _pWorker(new RoutingThread(this)),
+      _nemoCString(settingsGroup, _metaDataMap[connectionsStringKey]) {
 
   // Setup altitude.
   _altitude.setRawValue(qgcApp()
@@ -91,17 +93,17 @@ MeasurementComplexItem::MeasurementComplexItem(
           &MeasurementComplexItem::_storeRoutingData);
 
   // Connect coordinate and exitCoordinate.
-  connect(this, &MeasurementComplexItem::routeChanged,
+  connect(this, &MeasurementComplexItem::routeChanged, this,
           [this] { emit this->coordinateChanged(this->coordinate()); });
-  connect(this, &MeasurementComplexItem::routeChanged,
+  connect(this, &MeasurementComplexItem::routeChanged, this,
           [this] { emit this->exitCoordinateChanged(this->exitCoordinate()); });
-  connect(this, &MeasurementComplexItem::routeChanged, [this] {
+  connect(this, &MeasurementComplexItem::routeChanged, this, [this] {
     emit this->exitCoordinateSameAsEntryChanged(
         this->exitCoordinateSameAsEntry());
   });
 
   // Connect isIncomplete.
-  connect(this, &MeasurementComplexItem::idleChanged, [this] {
+  connect(this, &MeasurementComplexItem::idleChanged, this, [this] {
     if (this->idle()) {
       if (this->route().size() > 0 && this->_isIncomplete == true) {
         this->_isIncomplete = false;
@@ -124,14 +126,14 @@ MeasurementComplexItem::MeasurementComplexItem(
           &MeasurementComplexItem::_updateFlightpathSegments);
 
   // Connect complexDistance.
-  connect(this, &MeasurementComplexItem::routeChanged,
+  connect(this, &MeasurementComplexItem::routeChanged, this,
           [this] { emit this->complexDistanceChanged(); });
 
   resetGenerators();
   startEditing();
 
   // connect to nemo interface
-  connect(pNemoInterface, &NemoInterface::progressChanged, this,
+  connect(pNemoInterface, &Nemointerface::progressChanged, this,
           &MeasurementComplexItem::_onNewProgress);
 }
 
@@ -773,6 +775,17 @@ void MeasurementComplexItem::_onAltitudeChanged() {
   }
 }
 
+QString MeasurementComplexItem::nemoError() const { return _nemoError; }
+
+void MeasurementComplexItem::_setNemoError(const QString &nemoError) {
+  if (_nemoError != nemoError) {
+    _nemoError = nemoError;
+    emit nemoErrorChanged();
+  }
+}
+
+Fact *MeasurementComplexItem::nemoCString() { return &_nemoCString; }
+
 bool MeasurementComplexItem::holdProgress() const { return _holdProgress; }
 
 void MeasurementComplexItem::setHoldProgress(bool holdProgress) {
@@ -781,10 +794,10 @@ void MeasurementComplexItem::setHoldProgress(bool holdProgress) {
     emit holdProgressChanged();
 
     if (_holdProgress) {
-      disconnect(pNemoInterface, &NemoInterface::progressChanged, this,
+      disconnect(pNemoInterface, &Nemointerface::progressChanged, this,
                  &MeasurementComplexItem::_onNewProgress);
     } else {
-      connect(pNemoInterface, &NemoInterface::progressChanged, this,
+      connect(pNemoInterface, &Nemointerface::progressChanged, this,
               &MeasurementComplexItem::_onNewProgress);
       _onNewProgress(pNemoInterface->getProgress());
     }

src/MeasurementComplexItem/MeasurementComplexItem.h

@@ -14,6 +14,7 @@
 
 class RoutingThread;
 class RoutingResult;
+class Nemointerface;
 
 namespace routing {
 class GeneratorBase;
@@ -51,6 +52,8 @@ public:
   Q_PROPERTY(int generatorIndex READ generatorIndex NOTIFY generatorChanged)
   Q_PROPERTY(AreaData *areaData READ areaData NOTIFY areaDataChanged)
   Q_PROPERTY(QVariantList route READ route NOTIFY routeChanged)
+  Q_PROPERTY(QString nemoError READ nemoError NOTIFY nemoErrorChanged)
+  Q_PROPERTY(Fact *nemoCString READ nemoCString CONSTANT)
 
   Q_INVOKABLE void reverseRoute(void);
 
@@ -224,6 +227,10 @@ public:
   bool holdProgress() const;
   void setHoldProgress(bool holdProgress);
 
+  QString nemoError() const;
+
+  Fact *nemoCString();
+
 signals:
   void variantNamesChanged();
 
@@ -238,6 +245,8 @@ signals:
   void routeChanged();
   void holdProgressChanged();
 
+  void nemoErrorChanged();
+
 private slots:
 
   // Worker functions.
@@ -257,6 +266,7 @@ private:
   static bool _idle(STATE state);
   void _updateFlightpathSegments();
   void _onAltitudeChanged();
+  void _setNemoError(const QString &nemoError);
 
   // Hirarcical stuff.
   int _sequenceNumber;
@@ -285,4 +295,9 @@ private:
   QVector<Variant> _variantVector;
   Variant _route;
   PtrWorker _pWorker;
+
+  // NemoInterface
+  std::shared_ptr<Nemointerface> _pNemointerface;
+  QString _nemoError;
+  SettingsFact _nemoCString;
 };

src/MeasurementComplexItem/NemoInterface.cpp

@@ -11,6 +11,7 @@
 
 #include <QJsonArray>
 #include <QJsonObject>
+#include <QQmlEngine>
 #include <QTimer>
 #include <QUrl>
 
@@ -52,7 +53,7 @@
 
 Q_DECLARE_METATYPE(ProgressArray)
 
-QGC_LOGGING_CATEGORY(NemoInterfaceLog, "NemoInterfaceLog")
+QGC_LOGGING_CATEGORY(NemointerfaceLog, "NemointerfaceLog")
 
 #define NO_HEARTBEAT_TIMEOUT 5000   // ms
 #define RESTART_INTERVAl 600000     // ms == 10 min
@@ -98,7 +99,7 @@ typedef ros_bridge::messages::nemo_msgs::heartbeat::Heartbeat Heartbeat;
 typedef nemo_interface::TaskDispatcher Dispatcher;
 typedef std::unique_lock<std::mutex> Lock;
 
-class NemoInterface::Impl {
+class Nemointerface::Impl {
   enum class STATE {
     STOPPED,
     START_BRIDGE,
@@ -113,7 +114,7 @@ class NemoInterface::Impl {
   };
 
 public:
-  Impl(NemoInterface *p);
+  Impl(const QString &connectionString, Nemointerface *p);
   ~Impl();
 
   void start();
@@ -136,12 +137,13 @@ public:
   ProgressArray getProgress() const;
   ProgressArray getProgress(const IDArray &idArray) const;
 
-  NemoInterface::STATUS status() const;
+  Nemointerface::STATUS status() const;
   bool running() const; // thread safe
   bool ready() const;   // thread safe
 
   const QString &infoString() const;
   const QString &warningString() const;
+  const QString &connectionString() const;
 
 private:
   void _doSetup();
@@ -167,9 +169,9 @@ private:
   static bool _userSyncNotSafe(STATE s);
   static bool _sysSyncNotSafe(STATE s);
   static bool _runningNotSafe(STATE s);
-  static NemoInterface::STATUS _status(STATE state);
+  static Nemointerface::STATUS _status(STATE state);
   static QString _toString(STATE s);
-  static QString _toString(NemoInterface::STATUS s);
+  static QString _toString(Nemointerface::STATUS s);
 
   // impl functions
   bool _addTilesImpl(
@@ -201,10 +203,11 @@ private:
 
   // static and const members
   static const char *_localVersion;
-  NemoInterface *const _parent;
+  Nemointerface *const _parent;
+  const QString _connectionString;
 
   // thread safe members
-  ROSBridgePtr _pRosbridge;
+  Rosbridge _rosbridge;
   Dispatcher _dispatcher;
 
   // protected by mutex
@@ -221,51 +224,33 @@ private:
   QTimer _restartTimer;
 };
 
-const char *NemoInterface::Impl::_localVersion("V_1.0");
+const char *Nemointerface::Impl::_localVersion("V_1.0");
 
-using StatusMap = std::map<NemoInterface::STATUS, QString>;
+using StatusMap = std::map<Nemointerface::STATUS, QString>;
 static StatusMap statusMap{
-    std::make_pair<NemoInterface::STATUS, QString>(
-        NemoInterface::STATUS::NOT_CONNECTED, "Not Connected"),
-    std::make_pair<NemoInterface::STATUS, QString>(NemoInterface::STATUS::ERROR,
+    std::make_pair<Nemointerface::STATUS, QString>(
+        Nemointerface::STATUS::NOT_CONNECTED, "Not Connected"),
+    std::make_pair<Nemointerface::STATUS, QString>(Nemointerface::STATUS::ERROR,
                                                    "ERROR"),
-    std::make_pair<NemoInterface::STATUS, QString>(NemoInterface::STATUS::SYNC,
+    std::make_pair<Nemointerface::STATUS, QString>(Nemointerface::STATUS::SYNC,
                                                    "Synchronizing"),
-    std::make_pair<NemoInterface::STATUS, QString>(NemoInterface::STATUS::READY,
+    std::make_pair<Nemointerface::STATUS, QString>(Nemointerface::STATUS::READY,
                                                    "Ready"),
-    std::make_pair<NemoInterface::STATUS, QString>(
-        NemoInterface::STATUS::TIMEOUT, "Timeout"),
-    std::make_pair<NemoInterface::STATUS, QString>(
-        NemoInterface::STATUS::WEBSOCKET_DETECTED, "Websocket Detected")};
-
-NemoInterface::Impl::Impl(NemoInterface *p)
-    : _parent(p), _state(STATE::STOPPED) {
-
-  // ROS Bridge.
-  WimaSettings *wimaSettings =
-      qgcApp()->toolbox()->settingsManager()->wimaSettings();
-  auto connectionStringFact = wimaSettings->rosbridgeConnectionString();
-  auto setConnectionString = [connectionStringFact, this] {
-    auto connectionString = connectionStringFact->rawValue().toString();
-
-    bool wasRunning = this->running();
-    this->stop();
-    this->_pRosbridge = std::make_shared<Rosbridge>(
-        QUrl(QString("ws://") + connectionString.toLocal8Bit().data()));
-    if (wasRunning) {
-      this->start();
-    }
-  };
+    std::make_pair<Nemointerface::STATUS, QString>(
+        Nemointerface::STATUS::TIMEOUT, "Timeout"),
+    std::make_pair<Nemointerface::STATUS, QString>(
+        Nemointerface::STATUS::WEBSOCKET_DETECTED, "Websocket Detected")};
 
-  connect(connectionStringFact, &SettingsFact::rawValueChanged,
-          setConnectionString);
-  setConnectionString();
+Nemointerface::Impl::Impl(const QString &connectionString, Nemointerface *p)
+    : _parent(p), _connectionString(connectionString),
+      _rosbridge(QUrl(QString("ws://") + connectionString)),
+      _state(STATE::STOPPED) {
 
   // Heartbeat timeout.
   connect(&this->_timeoutTimer, &QTimer::timeout,
           std::bind(&Impl::_onHeartbeatTimeout, this));
 
-  connect(this->_pRosbridge.get(), &Rosbridge::stateChanged, this->_parent,
+  connect(&this->_rosbridge, &Rosbridge::stateChanged, this->_parent,
           [this] { this->_onRosbridgeStateChanged(); });
 
   connect(&this->_restartTimer, &QTimer::timeout, this->_parent,
@@ -278,9 +263,9 @@ NemoInterface::Impl::Impl(NemoInterface *p)
   std::call_once(flag, [] { qRegisterMetaType<ProgressArray>(); });
 }
 
-NemoInterface::Impl::~Impl() { this->_pRosbridge->stop(); }
+Nemointerface::Impl::~Impl() { this->_rosbridge.stop(); }
 
-void NemoInterface::Impl::start() {
+void Nemointerface::Impl::start() {
   Lock lk(this->_m);
   if (!_runningNotSafe(this->_state)) {
     this->_setStateNotSafe(STATE::START_BRIDGE);
@@ -288,7 +273,7 @@ void NemoInterface::Impl::start() {
   }
 }
 
-void NemoInterface::Impl::stop() {
+void Nemointerface::Impl::stop() {
   Lock lk(this->_m);
   if (_runningNotSafe(this->_state)) {
     this->_setStateNotSafe(STATE::STOPPED);
@@ -297,7 +282,7 @@ void NemoInterface::Impl::stop() {
 }
 
 std::shared_future<QVariant>
-NemoInterface::Impl::addTiles(const TilePtrArray &tileArray) {
+Nemointerface::Impl::addTiles(const TilePtrArray &tileArray) {
   using namespace nemo_interface;
 
   // qDebug() << "addTiles called";
@@ -320,7 +305,7 @@ NemoInterface::Impl::addTiles(const TilePtrArray &tileArray) {
         pTileArray->push_back(pTileCopy);
         pIdArray->push_back(id);
       } else {
-        qCDebug(NemoInterfaceLog)
+        qCDebug(NemointerfaceLog)
             << "addTiles(): tile with id: " << pTile->id() << "already added.";
       }
     }
@@ -364,7 +349,7 @@ NemoInterface::Impl::addTiles(const TilePtrArray &tileArray) {
 }
 
 std::shared_future<QVariant>
-NemoInterface::Impl::removeTiles(const IDArray &idArray) {
+Nemointerface::Impl::removeTiles(const IDArray &idArray) {
   using namespace nemo_interface;
 
   // qDebug() << "removeTiles called";
@@ -382,7 +367,7 @@ NemoInterface::Impl::removeTiles(const IDArray &idArray) {
         _localTiles.erase(it);
         pIdArray->push_back(id);
       } else {
-        qCDebug(NemoInterfaceLog) << "removeTiles(): unknown id: " << id << ".";
+        qCDebug(NemointerfaceLog) << "removeTiles(): unknown id: " << id << ".";
       }
     }
     if (pIdArray->size() > 0) {
@@ -426,7 +411,7 @@ NemoInterface::Impl::removeTiles(const IDArray &idArray) {
   return p.get_future();
 }
 
-std::shared_future<QVariant> NemoInterface::Impl::clearTiles() {
+std::shared_future<QVariant> Nemointerface::Impl::clearTiles() {
   using namespace nemo_interface;
 
   // qDebug() << "clearTiles called";
@@ -472,7 +457,7 @@ std::shared_future<QVariant> NemoInterface::Impl::clearTiles() {
   }
 }
 
-TileArray NemoInterface::Impl::getTiles(const IDArray &idArray) const {
+TileArray Nemointerface::Impl::getTiles(const IDArray &idArray) const {
   TileArray tileArray;
 
   Lock lk(this->_m);
@@ -503,7 +488,7 @@ TileArray NemoInterface::Impl::getTiles(const IDArray &idArray) const {
   return tileArray;
 }
 
-TileArray NemoInterface::Impl::getAllTiles() const {
+TileArray Nemointerface::Impl::getAllTiles() const {
   TileArray tileArray;
 
   Lock lk(this->_m);
@@ -531,7 +516,7 @@ TileArray NemoInterface::Impl::getAllTiles() const {
   return tileArray;
 }
 
-LogicalArray NemoInterface::Impl::containsTiles(const IDArray &idArray) const {
+LogicalArray Nemointerface::Impl::containsTiles(const IDArray &idArray) const {
   LogicalArray logicalArray;
 
   Lock lk(this->_m);
@@ -543,18 +528,18 @@ LogicalArray NemoInterface::Impl::containsTiles(const IDArray &idArray) const {
   return logicalArray;
 }
 
-std::size_t NemoInterface::Impl::size() const {
+std::size_t Nemointerface::Impl::size() const {
 
   Lock lk(this->_m);
   return _localTiles.size();
 }
 
-bool NemoInterface::Impl::empty() const {
+bool Nemointerface::Impl::empty() const {
   Lock lk(this->_m);
   return _localTiles.empty();
 }
 
-ProgressArray NemoInterface::Impl::getProgress() const {
+ProgressArray Nemointerface::Impl::getProgress() const {
   ProgressArray progressArray;
 
   Lock lk(this->_m);
@@ -573,7 +558,7 @@ ProgressArray NemoInterface::Impl::getProgress() const {
   return progressArray;
 }
 
-ProgressArray NemoInterface::Impl::getProgress(const IDArray &idArray) const {
+ProgressArray Nemointerface::Impl::getProgress(const IDArray &idArray) const {
   ProgressArray progressArray;
 
   Lock lk(this->_m);
@@ -598,34 +583,34 @@ ProgressArray NemoInterface::Impl::getProgress(const IDArray &idArray) const {
   return progressArray;
 }
 
-NemoInterface::STATUS NemoInterface::Impl::status() const {
+Nemointerface::STATUS Nemointerface::Impl::status() const {
   Lock lk(this->_m);
   return _status(this->_state);
 }
 
-bool NemoInterface::Impl::running() const {
+bool Nemointerface::Impl::running() const {
   Lock lk1(this->_m);
   return _runningNotSafe(this->_state);
 }
 
-bool NemoInterface::Impl::ready() const {
+bool Nemointerface::Impl::ready() const {
   Lock lk1(this->_m);
   return _readyNotSafe(this->_state);
 }
 
-bool NemoInterface::Impl::_sysSync() const {
+bool Nemointerface::Impl::_sysSync() const {
   Lock lk1(this->_m);
   return _sysSyncNotSafe(this->_state);
 }
 
-void NemoInterface::Impl::_onHeartbeatTimeout() {
+void Nemointerface::Impl::_onHeartbeatTimeout() {
   Lock lk1(this->_m);
   this->_setStateNotSafe(STATE::HEARTBEAT_TIMEOUT);
   this->_doActionNotSafe();
 }
 
-void NemoInterface::Impl::_onRosbridgeStateChanged() {
-  auto rbState = this->_pRosbridge->state();
+void Nemointerface::Impl::_onRosbridgeStateChanged() {
+  auto rbState = this->_rosbridge.state();
   if (rbState == Rosbridge::STATE::CONNECTED) {
     Lock lk1(this->_m);
     if (this->_state == STATE::START_BRIDGE ||
@@ -644,22 +629,26 @@ void NemoInterface::Impl::_onRosbridgeStateChanged() {
   }
 }
 
-bool NemoInterface::Impl::_userSync() const {
+bool Nemointerface::Impl::_userSync() const {
   Lock lk1(this->_m);
   return _userSyncNotSafe(this->_state);
 }
 
-const QString &NemoInterface::Impl::infoString() const {
+const QString &Nemointerface::Impl::infoString() const {
   Lock lk1(this->_m);
   return _infoString;
 }
 
-const QString &NemoInterface::Impl::warningString() const {
+const QString &Nemointerface::Impl::warningString() const {
   Lock lk1(this->_m);
   return _warningString;
 }
 
-bool NemoInterface::Impl::_updateProgress(const ProgressArray &pArray) {
+const QString &Nemointerface::Impl::connectionString() const {
+  return this->_connectionString;
+}
+
+bool Nemointerface::Impl::_updateProgress(const ProgressArray &pArray) {
 
   ProgressArray copy;
   bool error = false;
@@ -673,7 +662,7 @@ bool NemoInterface::Impl::_updateProgress(const ProgressArray &pArray) {
       it->second->setProgress(itLP->progress());
       copy.push_back(*itLP);
     } else {
-      qCDebug(NemoInterfaceLog)
+      qCDebug(NemointerfaceLog)
           << "_updateProgress(): tile with id " << itLP->id() << " not found.";
       error = true;
     }
@@ -687,7 +676,7 @@ bool NemoInterface::Impl::_updateProgress(const ProgressArray &pArray) {
   return !error;
 }
 
-void NemoInterface::Impl::_onHeartbeatReceived(const QNemoHeartbeat &) {
+void Nemointerface::Impl::_onHeartbeatReceived(const QNemoHeartbeat &) {
   INVM(this->_parent,
        ([this]() mutable { this->_timeoutTimer.start(NO_HEARTBEAT_TIMEOUT); }))
 
@@ -699,7 +688,7 @@ void NemoInterface::Impl::_onHeartbeatReceived(const QNemoHeartbeat &) {
   }
 }
 
-void NemoInterface::Impl::_setInfoStringNotSafe(const QString &info) {
+void Nemointerface::Impl::_setInfoStringNotSafe(const QString &info) {
   if (_infoString != info) {
     _infoString = info;
 
@@ -709,7 +698,7 @@ void NemoInterface::Impl::_setInfoStringNotSafe(const QString &info) {
   }
 }
 
-void NemoInterface::Impl::_setWarningStringNotSafe(const QString &warning) {
+void Nemointerface::Impl::_setWarningStringNotSafe(const QString &warning) {
   if (_warningString != warning) {
     _warningString = warning;
 
@@ -719,20 +708,20 @@ void NemoInterface::Impl::_setWarningStringNotSafe(const QString &warning) {
   }
 }
 
-void NemoInterface::Impl::_setInfoString(const QString &info) {
+void Nemointerface::Impl::_setInfoString(const QString &info) {
   Lock lk(this->_m);
   _setInfoStringNotSafe(info);
 }
 
-void NemoInterface::Impl::_setWarningString(const QString &warning) {
+void Nemointerface::Impl::_setWarningString(const QString &warning) {
   Lock lk(this->_m);
   _setWarningStringNotSafe(warning);
 }
 
-void NemoInterface::Impl::_doSetup() {
+void Nemointerface::Impl::_doSetup() {
   // create task
   auto pTask = std::make_unique<nemo_interface::Task>([this] {
-    auto rb = this->_pRosbridge;
+    auto &rb = this->_rosbridge;
     auto &disp = this->_dispatcher;
 
     // check if required services are available
@@ -742,7 +731,7 @@ void NemoInterface::Impl::_doSetup() {
 
       this->_setInfoString("Waiting for required service " + s);
 
-      auto available = rb->waitForService(cc, cond);
+      auto available = rb.waitForService(cc, cond);
       if (!available) {
         return QVariant(false);
       }
@@ -750,7 +739,7 @@ void NemoInterface::Impl::_doSetup() {
 
     // check if version is compatible{
     this->_setInfoString("Checking version.");
-    auto version = _callGetVersion(disp, *rb);
+    auto version = _callGetVersion(disp, rb);
     if (version != _localVersion) {
       this->_setWarningString(
           "Version checking failed. Local protocol version (" +
@@ -763,14 +752,14 @@ void NemoInterface::Impl::_doSetup() {
     for (const auto &cc : requiredTopics) {
       QString s(cc);
       this->_setInfoString("Waiting for required topic " + s);
-      auto available = rb->waitForTopic(cc, cond);
+      auto available = rb.waitForTopic(cc, cond);
       if (!available) {
         return QVariant(false);
       }
     }
 
     // subscribe topics
-    rb->subscribeTopic(progressTopic, [this](const QJsonObject &o) {
+    rb.subscribeTopic(progressTopic, [this](const QJsonObject &o) {
       ros_bridge::messages::nemo_msgs::progress_array::ProgressArray
           progressArray;
       if (ros_bridge::messages::nemo_msgs::progress_array::fromJson(
@@ -789,7 +778,7 @@ void NemoInterface::Impl::_doSetup() {
           }
 
           if (rangeError) {
-            qCWarning(NemoInterfaceLog) << progressTopic
+            qCWarning(NemointerfaceLog) << progressTopic
                                         << " progress out "
                                            "of range, value was set to: "
                                         << lp.progress();
@@ -799,7 +788,7 @@ void NemoInterface::Impl::_doSetup() {
         if (!ret)
           this->_setWarningString("Progress update failed.");
       } else {
-        qCWarning(NemoInterfaceLog) << progressTopic
+        qCWarning(NemointerfaceLog) << progressTopic
                                     << " not able to "
                                        "create ProgressArray form json: "
                                     << o;
@@ -807,12 +796,12 @@ void NemoInterface::Impl::_doSetup() {
     });
 
     using namespace ros_bridge::messages;
-    rb->subscribeTopic(heartbeatTopic, [this](const QJsonObject &o) {
+    rb.subscribeTopic(heartbeatTopic, [this](const QJsonObject &o) {
       nemo_msgs::heartbeat::Heartbeat heartbeat;
       if (nemo_msgs::heartbeat::fromJson(o, heartbeat)) {
         this->_onHeartbeatReceived(heartbeat);
       } else {
-        qCWarning(NemoInterfaceLog) << heartbeatTopic
+        qCWarning(NemointerfaceLog) << heartbeatTopic
                                     << " not able to "
                                        "create Heartbeat form json: "
                                     << o;
@@ -832,7 +821,7 @@ void NemoInterface::Impl::_doSetup() {
   Q_UNUSED(f);
 }
 
-void NemoInterface::Impl::_synchronize() {
+void Nemointerface::Impl::_synchronize() {
   Lock lk(this->_m);
   if (this->_state == STATE::READY || this->_state == STATE::SYNC_ERROR) {
 
@@ -848,11 +837,11 @@ void NemoInterface::Impl::_synchronize() {
 
     // create cmd.
     auto pTask = std::make_unique<nemo_interface::Task>([this, pTileArray] {
-      auto rb = this->_pRosbridge;
+      auto &rb = this->_rosbridge;
       auto &disp = this->_dispatcher;
       // are _localTiles and _remoteTiles synced?
 
-      auto remoteTiles = this->_callGetAllTiles(disp, *rb);
+      auto remoteTiles = this->_callGetAllTiles(disp, rb);
 
       // create tile map;
       std::map<QString, std::shared_ptr<Tile>> tempMap;
@@ -861,7 +850,7 @@ void NemoInterface::Impl::_synchronize() {
         if (Q_LIKELY(it == tempMap.end())) {
           tempMap.insert(std::make_pair(pTile->id(), pTile));
         } else {
-          qCDebug(NemoInterfaceLog)
+          qCDebug(NemointerfaceLog)
               << "_synchronizeIfNeccessary(): remoteTiles contains "
                  "duplicate id";
         }
@@ -918,7 +907,7 @@ void NemoInterface::Impl::_synchronize() {
           this->_doActionNotSafe();
           lk.unlock();
           this->_setWarningString("Getting progress failed.");
-          qCDebug(NemoInterfaceLog)
+          qCDebug(NemointerfaceLog)
               << "_addTilesImpl(): _updateProgress failed: unknown id.";
           return QVariant(false);
         }
@@ -947,7 +936,7 @@ void NemoInterface::Impl::_synchronize() {
   }
 }
 
-void NemoInterface::Impl::_tryRestart() {
+void Nemointerface::Impl::_tryRestart() {
   if (this->running()) {
     if (_dispatcher.idle()) {
       qDebug() << "_tryRestart: restarting";
@@ -960,19 +949,19 @@ void NemoInterface::Impl::_tryRestart() {
   }
 }
 
-bool NemoInterface::Impl::_isSynchronizedNotSafe() const {
+bool Nemointerface::Impl::_isSynchronizedNotSafe() const {
   return _localTiles.size() == _remoteTiles.size() &&
          std::equal(
              _localTiles.begin(), _localTiles.end(), _remoteTiles.begin(),
              [](const auto &a, const auto &b) { return a.first == b.first; });
 }
 
-bool NemoInterface::Impl::_isSynchronized() const {
+bool Nemointerface::Impl::_isSynchronized() const {
   Lock lk(this->_m);
   return _isSynchronizedNotSafe();
 }
 
-void NemoInterface::Impl::_doActionNotSafe() {
+void Nemointerface::Impl::_doActionNotSafe() {
   static bool resetDone = false;
   switch (this->_state) {
   case STATE::STOPPED: {
@@ -983,8 +972,8 @@ void NemoInterface::Impl::_doActionNotSafe() {
            this->_syncTimer.stop();
          }))
 
-    if (this->_pRosbridge->state() != Rosbridge::STATE::STOPPED) {
-      this->_pRosbridge->stop();
+    if (this->_rosbridge.state() != Rosbridge::STATE::STOPPED) {
+      this->_rosbridge.stop();
     }
     _dispatcher.stop();
     _dispatcher.clear();
@@ -998,7 +987,7 @@ void NemoInterface::Impl::_doActionNotSafe() {
     INVM(this->_parent,
          ([this]() mutable { this->_restartTimer.start(RESTART_INTERVAl); }))
 
-    this->_pRosbridge->start();
+    this->_rosbridge.start();
   } break;
   case STATE::WEBSOCKET_DETECTED:
     resetDone = false;
@@ -1036,8 +1025,8 @@ void NemoInterface::Impl::_doActionNotSafe() {
 
     if (!resetDone) {
       resetDone = true;
-      this->_pRosbridge->stop();
-      this->_pRosbridge->start();
+      this->_rosbridge.stop();
+      this->_rosbridge.start();
     }
     _dispatcher.stop();
     _dispatcher.clear();
@@ -1048,7 +1037,7 @@ void NemoInterface::Impl::_doActionNotSafe() {
   };
 }
 
-bool NemoInterface::Impl::_callAddTiles(
+bool Nemointerface::Impl::_callAddTiles(
     const QVector<std::shared_ptr<const Tile>> &tileArray, Dispatcher &d,
     Rosbridge &rb) {
 
@@ -1060,7 +1049,7 @@ bool NemoInterface::Impl::_callAddTiles(
     using namespace ros_bridge::messages;
     QJsonObject jsonTile;
     if (!nemo_msgs::tile::toJson(*tile, jsonTile)) {
-      qCDebug(NemoInterfaceLog)
+      qCDebug(NemointerfaceLog)
           << "addTiles(): not able to create json object: tile id: "
           << tile->id() << " progress: " << tile->progress()
           << " points: " << tile->tile();
@@ -1079,7 +1068,7 @@ bool NemoInterface::Impl::_callAddTiles(
     if (o.contains("success") && o["success"].isBool()) {
       promise_response->set_value(o["success"].toBool());
     } else {
-      qCWarning(NemoInterfaceLog)
+      qCWarning(NemointerfaceLog)
           << addTilesService << " no \"success\" key or wrong type: " << o;
       promise_response->set_value(false);
     }
@@ -1101,7 +1090,7 @@ bool NemoInterface::Impl::_callAddTiles(
            d.isInterruptionRequested());
 
   if (abort) {
-    qCWarning(NemoInterfaceLog)
+    qCWarning(NemointerfaceLog)
         << "addTiles(): Websocket not responding to request.";
     return false;
   }
@@ -1115,7 +1104,7 @@ bool NemoInterface::Impl::_callAddTiles(
   return true;
 }
 
-bool NemoInterface::Impl::_callRemoveTiles(const IDArray &pIdArray,
+bool Nemointerface::Impl::_callRemoveTiles(const IDArray &pIdArray,
                                            Dispatcher &disp, Rosbridge &rb) {
   // qDebug() << "_callRemoveTiles called";
 
@@ -1137,7 +1126,7 @@ bool NemoInterface::Impl::_callRemoveTiles(const IDArray &pIdArray,
     if (o.contains("success") && o["success"].isBool()) {
       promise_response->set_value(o["success"].toBool());
     } else {
-      qCWarning(NemoInterfaceLog)
+      qCWarning(NemointerfaceLog)
           << removeTilesService << " no \"success\" key or wrong type: " << msg;
       promise_response->set_value(false);
     }
@@ -1159,7 +1148,7 @@ bool NemoInterface::Impl::_callRemoveTiles(const IDArray &pIdArray,
            disp.isInterruptionRequested());
 
   if (abort) {
-    qCWarning(NemoInterfaceLog)
+    qCWarning(NemointerfaceLog)
         << "remove_tiles(): Websocket not responding to request.";
     return false;
   }
@@ -1172,7 +1161,7 @@ bool NemoInterface::Impl::_callRemoveTiles(const IDArray &pIdArray,
   return true;
 }
 
-bool NemoInterface::Impl::_callClearTiles(Dispatcher &disp, Rosbridge &rb) {
+bool Nemointerface::Impl::_callClearTiles(Dispatcher &disp, Rosbridge &rb) {
 
   // create response handler.
   auto promise_response = std::make_shared<std::promise<bool>>();
@@ -1198,7 +1187,7 @@ bool NemoInterface::Impl::_callClearTiles(Dispatcher &disp, Rosbridge &rb) {
            disp.isInterruptionRequested());
 
   if (abort) {
-    qCWarning(NemoInterfaceLog) << "Websocket not responding to request.";
+    qCWarning(NemointerfaceLog) << "Websocket not responding to request.";
     return false;
   }
 
@@ -1210,7 +1199,7 @@ bool NemoInterface::Impl::_callClearTiles(Dispatcher &disp, Rosbridge &rb) {
   return true;
 }
 
-ProgressArray NemoInterface::Impl::_callGetProgress(const IDArray &pIdArray,
+ProgressArray Nemointerface::Impl::_callGetProgress(const IDArray &pIdArray,
                                                     Dispatcher &disp,
                                                     Rosbridge &rb) {
   // qDebug() << "_callGetProgress called";
@@ -1238,7 +1227,7 @@ ProgressArray NemoInterface::Impl::_callGetProgress(const IDArray &pIdArray,
       *pArray = std::move(progressArrayMsg.progress_array());
       promise_response->set_value(pArray);
     } else {
-      qCWarning(NemoInterfaceLog) << getProgressService
+      qCWarning(NemointerfaceLog) << getProgressService
                                   << " error while creating ProgressArray "
                                      "from json.";
       promise_response->set_value(nullptr);
@@ -1261,7 +1250,7 @@ ProgressArray NemoInterface::Impl::_callGetProgress(const IDArray &pIdArray,
            disp.isInterruptionRequested());
 
   if (abort) {
-    qCWarning(NemoInterfaceLog)
+    qCWarning(NemointerfaceLog)
         << "all_remove_tiles(): Websocket not responding to request.";
     return ProgressArray();
   }
@@ -1270,7 +1259,7 @@ ProgressArray NemoInterface::Impl::_callGetProgress(const IDArray &pIdArray,
   return *future_response.get();
 }
 
-ProgressArray NemoInterface::Impl::_callGetAllProgress(Dispatcher &disp,
+ProgressArray Nemointerface::Impl::_callGetAllProgress(Dispatcher &disp,
                                                        Rosbridge &rb) {
   // qDebug() << "_callGetAllProgress called";
 
@@ -1288,7 +1277,7 @@ ProgressArray NemoInterface::Impl::_callGetAllProgress(Dispatcher &disp,
       *pArray = std::move(progressArrayMsg.progress_array());
       promise_response->set_value(pArray);
     } else {
-      qCWarning(NemoInterfaceLog) << getAllProgressService
+      qCWarning(NemointerfaceLog) << getAllProgressService
                                   << " error while creating ProgressArray "
                                      "from json. msg: "
                                   << o;
@@ -1312,7 +1301,7 @@ ProgressArray NemoInterface::Impl::_callGetAllProgress(Dispatcher &disp,
            disp.isInterruptionRequested());
 
   if (abort) {
-    qCWarning(NemoInterfaceLog)
+    qCWarning(NemointerfaceLog)
         << "_callGetAllProgress(): Websocket not responding to request.";
     return ProgressArray();
   }
@@ -1322,7 +1311,7 @@ ProgressArray NemoInterface::Impl::_callGetAllProgress(Dispatcher &disp,
 }
 
 QVector<std::shared_ptr<Tile>>
-NemoInterface::Impl::_callGetAllTiles(Dispatcher &disp, Rosbridge &rb) {
+Nemointerface::Impl::_callGetAllTiles(Dispatcher &disp, Rosbridge &rb) {
   // qDebug() << "_callGetAllProgress called";
 
   // create response handler.
@@ -1343,12 +1332,12 @@ NemoInterface::Impl::_callGetAllTiles(Dispatcher &disp, Rosbridge &rb) {
           if (ros_bridge::messages::nemo_msgs::tile::fromJson(o, *tile)) {
             pArray->push_back(tile);
           } else {
-            qCWarning(NemoInterfaceLog)
+            qCWarning(NemointerfaceLog)
                 << getAllTilesService << " error while creating tile.";
             promise_response->set_value(nullptr);
           }
         } else {
-          qCWarning(NemoInterfaceLog)
+          qCWarning(NemointerfaceLog)
               << getAllTilesService << " json array does not contain objects.";
           promise_response->set_value(nullptr);
         }
@@ -1356,7 +1345,7 @@ NemoInterface::Impl::_callGetAllTiles(Dispatcher &disp, Rosbridge &rb) {
       // success!
       promise_response->set_value(pArray);
     } else {
-      qCWarning(NemoInterfaceLog)
+      qCWarning(NemointerfaceLog)
           << getAllTilesService << " no tile_array key or wrong type.";
       promise_response->set_value(nullptr);
     }
@@ -1378,7 +1367,7 @@ NemoInterface::Impl::_callGetAllTiles(Dispatcher &disp, Rosbridge &rb) {
            disp.isInterruptionRequested());
 
   if (abort) {
-    qCWarning(NemoInterfaceLog)
+    qCWarning(NemointerfaceLog)
         << "all_remove_tiles(): Websocket not responding to request.";
     return QVector<std::shared_ptr<Tile>>();
   }
@@ -1386,7 +1375,7 @@ NemoInterface::Impl::_callGetAllTiles(Dispatcher &disp, Rosbridge &rb) {
   return *future_response.get();
 }
 
-QString NemoInterface::Impl::_callGetVersion(Dispatcher &d, Rosbridge &rb) {
+QString Nemointerface::Impl::_callGetVersion(Dispatcher &d, Rosbridge &rb) {
 
   // create response handler.
   typedef QString ResponseType;
@@ -1400,7 +1389,7 @@ QString NemoInterface::Impl::_callGetVersion(Dispatcher &d, Rosbridge &rb) {
       const auto version = o[versionKey].toString();
       promise_response->set_value(version);
     } else {
-      qCWarning(NemoInterfaceLog)
+      qCWarning(NemointerfaceLog)
           << getVersionService << " no version key or wrong type.";
       promise_response->set_value("error!");
     }
@@ -1422,7 +1411,7 @@ QString NemoInterface::Impl::_callGetVersion(Dispatcher &d, Rosbridge &rb) {
            d.isInterruptionRequested());
 
   if (abort) {
-    qCWarning(NemoInterfaceLog)
+    qCWarning(NemointerfaceLog)
         << "all_remove_tiles(): Websocket not responding to request.";
     return "unknown_version";
   }
@@ -1437,7 +1426,7 @@ QString NemoInterface::Impl::_callGetVersion(Dispatcher &d, Rosbridge &rb) {
   return version;
 }
 
-bool NemoInterface::Impl::_addTilesRemote(
+bool Nemointerface::Impl::_addTilesRemote(
     const QVector<std::shared_ptr<const Tile>> tileArray) {
 
   // qDebug() << "_addTilesRemote called";
@@ -1449,7 +1438,7 @@ bool NemoInterface::Impl::_addTilesRemote(
   return _addTilesRemote(copy);
 }
 
-bool NemoInterface::Impl::_addTilesRemote(
+bool Nemointerface::Impl::_addTilesRemote(
     const QVector<std::shared_ptr<Tile>> &tileArray) {
 
   bool error = false;
@@ -1466,7 +1455,7 @@ bool NemoInterface::Impl::_addTilesRemote(
       Q_UNUSED(ret);
     } else {
       if (pTile->tile() != it->second->tile()) {
-        qCWarning(NemoInterfaceLog)
+        qCWarning(NemointerfaceLog)
             << "_addTilesRemote: tiles differ but have the same id.";
         error = true;
       }
@@ -1481,7 +1470,7 @@ bool NemoInterface::Impl::_addTilesRemote(
   return !error;
 }
 
-void NemoInterface::Impl::_removeTilesRemote(const IDArray &idArray) {
+void Nemointerface::Impl::_removeTilesRemote(const IDArray &idArray) {
   // qDebug() << "_removeTilesRemote called";
   bool anyChange = false;
 
@@ -1492,7 +1481,7 @@ void NemoInterface::Impl::_removeTilesRemote(const IDArray &idArray) {
       _remoteTiles.erase(it);
       anyChange = true;
     } else {
-      qCWarning(NemoInterfaceLog)
+      qCWarning(NemointerfaceLog)
           << "_removeTilesRemote: tile with unknown id " << id << ".";
     }
   }
@@ -1502,24 +1491,24 @@ void NemoInterface::Impl::_removeTilesRemote(const IDArray &idArray) {
   }
 }
 
-void NemoInterface::Impl::_clearTilesRemote() {
+void Nemointerface::Impl::_clearTilesRemote() {
   Lock lk(this->_m);
   _clearTilesRemoteNotSafe();
 }
 
-void NemoInterface::Impl::_clearTilesRemoteNotSafe() {
+void Nemointerface::Impl::_clearTilesRemoteNotSafe() {
   // qDebug() << "_clearTilesRemote called";
   if (_remoteTiles.size() > 0) {
     _remoteTiles.clear();
   }
 }
 
-bool NemoInterface::Impl::_setStateNotSafe(STATE newState) {
+bool Nemointerface::Impl::_setStateNotSafe(STATE newState) {
   if (newState != this->_state) {
     auto oldState = this->_state;
     this->_state = newState;
 
-    qCDebug(NemoInterfaceLog)
+    qCDebug(NemointerfaceLog)
         << "state: " << _toString(oldState) << " -> " << _toString(newState);
     auto oldStatus = _status(oldState);
     auto newStatus = _status(newState);
@@ -1541,58 +1530,58 @@ bool NemoInterface::Impl::_setStateNotSafe(STATE newState) {
   }
 }
 
-bool NemoInterface::Impl::_readyNotSafe(NemoInterface::Impl::STATE s) {
+bool Nemointerface::Impl::_readyNotSafe(Nemointerface::Impl::STATE s) {
   return s == STATE::READY;
 }
 
-bool NemoInterface::Impl::_userSyncNotSafe(NemoInterface::Impl::STATE s) {
+bool Nemointerface::Impl::_userSyncNotSafe(Nemointerface::Impl::STATE s) {
   return s == STATE::USER_SYNC;
 }
 
-bool NemoInterface::Impl::_sysSyncNotSafe(NemoInterface::Impl::STATE s) {
+bool Nemointerface::Impl::_sysSyncNotSafe(Nemointerface::Impl::STATE s) {
   return s == STATE::SYS_SYNC;
 }
 
-bool NemoInterface::Impl::_runningNotSafe(NemoInterface::Impl::STATE s) {
+bool Nemointerface::Impl::_runningNotSafe(Nemointerface::Impl::STATE s) {
   return s != STATE::STOPPED;
 }
 
-NemoInterface::STATUS
-NemoInterface::Impl::_status(NemoInterface::Impl::STATE state) {
-  NemoInterface::STATUS status;
+Nemointerface::STATUS
+Nemointerface::Impl::_status(Nemointerface::Impl::STATE state) {
+  Nemointerface::STATUS status;
   switch (state) {
   case STATE::STOPPED:
-    status = NemoInterface::STATUS::NOT_CONNECTED;
+    status = Nemointerface::STATUS::NOT_CONNECTED;
     break;
   case STATE::START_BRIDGE:
-    status = NemoInterface::STATUS::NOT_CONNECTED;
+    status = Nemointerface::STATUS::NOT_CONNECTED;
     break;
   case STATE::WEBSOCKET_DETECTED:
-    status = NemoInterface::STATUS::WEBSOCKET_DETECTED;
+    status = Nemointerface::STATUS::WEBSOCKET_DETECTED;
     break;
   case STATE::TRY_SETUP:
-    status = NemoInterface::STATUS::WEBSOCKET_DETECTED;
+    status = Nemointerface::STATUS::WEBSOCKET_DETECTED;
     break;
   case STATE::READY:
-    status = NemoInterface::STATUS::READY;
+    status = Nemointerface::STATUS::READY;
     break;
   case STATE::USER_SYNC:
   case STATE::SYS_SYNC:
-    status = NemoInterface::STATUS::SYNC;
+    status = Nemointerface::STATUS::SYNC;
     break;
   case STATE::SYNC_ERROR:
-    status = NemoInterface::STATUS::ERROR;
+    status = Nemointerface::STATUS::ERROR;
     break;
   case STATE::WEBSOCKET_TIMEOUT:
   case STATE::HEARTBEAT_TIMEOUT:
-    status = NemoInterface::STATUS::TIMEOUT;
+    status = Nemointerface::STATUS::TIMEOUT;
     break;
   }
 
   return status;
 }
 
-QString NemoInterface::Impl::_toString(NemoInterface::Impl::STATE s) {
+QString Nemointerface::Impl::_toString(Nemointerface::Impl::STATE s) {
   switch (s) {
   case STATE::STOPPED:
     return QString("STOPPED");
@@ -1618,32 +1607,32 @@ QString NemoInterface::Impl::_toString(NemoInterface::Impl::STATE s) {
   return "unknown state!";
 }
 
-QString NemoInterface::Impl::_toString(NemoInterface::STATUS s) {
+QString Nemointerface::Impl::_toString(Nemointerface::STATUS s) {
   switch (s) {
-  case NemoInterface::STATUS::NOT_CONNECTED:
+  case Nemointerface::STATUS::NOT_CONNECTED:
     return QString("NOT_CONNECTED");
-  case NemoInterface::STATUS::ERROR:
+  case Nemointerface::STATUS::ERROR:
     return QString("ERROR");
-  case NemoInterface::STATUS::READY:
+  case Nemointerface::STATUS::READY:
     return QString("READY");
-  case NemoInterface::STATUS::TIMEOUT:
+  case Nemointerface::STATUS::TIMEOUT:
     return QString("TIMEOUT");
-  case NemoInterface::STATUS::WEBSOCKET_DETECTED:
+  case Nemointerface::STATUS::WEBSOCKET_DETECTED:
     return QString("WEBSOCKET_DETECTED");
-  case NemoInterface::STATUS::SYNC:
+  case Nemointerface::STATUS::SYNC:
     return QString("SYNC");
   }
   return "unknown state!";
 }
 
-bool NemoInterface::Impl::_addTilesImpl(
+bool Nemointerface::Impl::_addTilesImpl(
     std::shared_ptr<QVector<std::shared_ptr<const Tile>>> pTileArray,
     std::shared_ptr<const IDArray> pIdArray) {
-  auto rb = this->_pRosbridge;
+  auto &rb = this->_rosbridge;
   auto &disp = this->_dispatcher;
 
   // add tiles
-  bool success = this->_callAddTiles(*pTileArray, disp, *rb);
+  bool success = this->_callAddTiles(*pTileArray, disp, rb);
   if (!success) {
     this->_setWarningString(
         "Adding tiles failed. This might indicate a poor connection.");
@@ -1657,13 +1646,13 @@ bool NemoInterface::Impl::_addTilesImpl(
     this->_doActionNotSafe();
     lk.unlock();
     this->_setWarningString("Adding tiles failed.");
-    qCDebug(NemoInterfaceLog) << "_addTilesImpl(): _addTilesRemote return "
+    qCDebug(NemointerfaceLog) << "_addTilesImpl(): _addTilesRemote return "
                                  "false: different tiles with same id.";
     return false;
   }
 
   // fetch progress
-  auto array = this->_callGetProgress(*pIdArray, disp, *rb);
+  auto array = this->_callGetProgress(*pIdArray, disp, rb);
   if (array.size() != pIdArray->size()) {
     Lock lk(this->_m);
     this->_setStateNotSafe(STATE::SYNC_ERROR);
@@ -1681,7 +1670,7 @@ bool NemoInterface::Impl::_addTilesImpl(
     this->_doActionNotSafe();
     lk.unlock();
     this->_setWarningString("Getting progress failed.");
-    qCDebug(NemoInterfaceLog)
+    qCDebug(NemointerfaceLog)
         << "_addTilesImpl(): _updateProgress failed: unknown id.";
     return false;
   }
@@ -1689,12 +1678,12 @@ bool NemoInterface::Impl::_addTilesImpl(
   return true;
 }
 
-bool NemoInterface::Impl::_removeTilesImpl(
+bool Nemointerface::Impl::_removeTilesImpl(
     std::shared_ptr<const IDArray> pIdArray) {
-  auto rb = this->_pRosbridge;
+  auto &rb = this->_rosbridge;
   auto &disp = this->_dispatcher;
 
-  auto success = this->_callRemoveTiles(*pIdArray, disp, *rb);
+  auto success = this->_callRemoveTiles(*pIdArray, disp, rb);
   if (!success) {
     Lock lk(this->_m);
     this->_setStateNotSafe(STATE::SYNC_ERROR);
@@ -1709,11 +1698,11 @@ bool NemoInterface::Impl::_removeTilesImpl(
   return true;
 }
 
-bool NemoInterface::Impl::_clearTilesImpl() {
-  auto rb = this->_pRosbridge;
+bool Nemointerface::Impl::_clearTilesImpl() {
+  auto &rb = this->_rosbridge;
   auto &disp = this->_dispatcher;
 
-  auto success = this->_callClearTiles(disp, *rb);
+  auto success = this->_callClearTiles(disp, rb);
   if (!success) {
     Lock lk(this->_m);
     this->_setStateNotSafe(STATE::SYNC_ERROR);
@@ -1730,24 +1719,18 @@ bool NemoInterface::Impl::_clearTilesImpl() {
 
 // ===============================================================
 // NemoInterface
-NemoInterface::NemoInterface()
-    : QObject(), pImpl(std::make_unique<NemoInterface::Impl>(this)) {}
+Nemointerface::Nemointerface(const QString &connectionString)
+    : QObject(),
+      pImpl(std::make_unique<Nemointerface::Impl>(connectionString, this)) {}
 
-NemoInterface *NemoInterface::createInstance() { return new NemoInterface(); }
+Nemointerface::~Nemointerface() {}
 
-NemoInterface *NemoInterface::instance() {
-  return GenericSingelton<NemoInterface>::instance(
-      NemoInterface::createInstance);
-}
-
-NemoInterface::~NemoInterface() {}
-
-void NemoInterface::start() { this->pImpl->start(); }
+void Nemointerface::start() { this->pImpl->start(); }
 
-void NemoInterface::stop() { this->pImpl->stop(); }
+void Nemointerface::stop() { this->pImpl->stop(); }
 
 std::shared_future<QVariant>
-NemoInterface::addTiles(const TileArray &tileArray) {
+Nemointerface::addTiles(const TileArray &tileArray) {
   TilePtrArray ptrArray;
   for (const auto &tile : tileArray) {
     ptrArray.push_back(const_cast<MeasurementTile *>(&tile));
@@ -1756,59 +1739,130 @@ NemoInterface::addTiles(const TileArray &tileArray) {
 }
 
 std::shared_future<QVariant>
-NemoInterface::addTiles(const TilePtrArray &tileArray) {
+Nemointerface::addTiles(const TilePtrArray &tileArray) {
   return this->pImpl->addTiles(tileArray);
 }
 
 std::shared_future<QVariant>
-NemoInterface::removeTiles(const IDArray &idArray) {
+Nemointerface::removeTiles(const IDArray &idArray) {
   return this->pImpl->removeTiles(idArray);
 }
 
-std::shared_future<QVariant> NemoInterface::clearTiles() {
+std::shared_future<QVariant> Nemointerface::clearTiles() {
   return this->pImpl->clearTiles();
 }
 
-TileArray NemoInterface::getTiles(const IDArray &idArray) const {
+TileArray Nemointerface::getTiles(const IDArray &idArray) const {
   return this->pImpl->getTiles(idArray);
 }
 
-TileArray NemoInterface::getAllTiles() const {
+TileArray Nemointerface::getAllTiles() const {
   return this->pImpl->getAllTiles();
 }
 
-LogicalArray NemoInterface::containsTiles(const IDArray &idArray) const {
+LogicalArray Nemointerface::containsTiles(const IDArray &idArray) const {
   return this->pImpl->containsTiles(idArray);
 }
 
-std::size_t NemoInterface::size() const { return this->pImpl->size(); }
+std::size_t Nemointerface::size() const { return this->pImpl->size(); }
 
-bool NemoInterface::empty() const { return this->pImpl->empty(); }
+bool Nemointerface::empty() const { return this->pImpl->empty(); }
 
-ProgressArray NemoInterface::getProgress() const {
+ProgressArray Nemointerface::getProgress() const {
   return this->pImpl->getProgress();
 }
 
-ProgressArray NemoInterface::getProgress(const IDArray &idArray) const {
+ProgressArray Nemointerface::getProgress(const IDArray &idArray) const {
   return this->pImpl->getProgress(idArray<