From 1606818c77e6d211a9f68f0f01581ebc96b913a6 Mon Sep 17 00:00:00 2001
From: Chi Huu Huynh <73843190+Chi-EEE@users.noreply.github.com>
Date: Thu, 7 Dec 2023 16:40:30 +0000
Subject: [PATCH] Move files and make library directory for RPLidar

---
 Car-Application.code-workspace                |  14 ++++----
 .../backend}/.vscode/c_cpp_properties.json    |   0
 .../backend}/.vscode/settings.json            |   0
 {backend => app/backend}/Doxyfile             |   0
 .../backend}/include/utils/Utility.hpp        |   0
 .../j/json-schema-validator-/port/xmake.lua   |   0
 .../j/json-schema-validator-/xmake.lua        |   0
 .../repository/packages/p/pca9685/xmake.lua   |   0
 .../repository/packages/w/wiringpi/xmake.lua  |   0
 {backend => app/backend}/settings/config.json |   0
 .../src/controllers/DynamicController.hpp     |   0
 .../src/controllers/RoomController.hpp        |   0
 .../src/controllers/WebSocketChat.hpp         |   0
 {backend => app/backend}/src/main.cpp         |   0
 {backend => app/backend}/src/room/Room.hpp    |   0
 .../backend}/src/room/RoomManager.hpp         |   0
 {backend => app/backend}/src/room/User.hpp    |   0
 .../backend}/src/room/UserType.hpp            |   0
 {backend => app/backend}/src/test.py          |   0
 {backend => app/backend}/xmake.lua            |   0
 {frontend => app/frontend}/.gitignore         |   0
 {frontend => app/frontend}/.npmrc             |   0
 {frontend => app/frontend}/README.md          |   0
 {frontend => app/frontend}/package.json       |   0
 {frontend => app/frontend}/pnpm-lock.yaml     |   0
 {frontend => app/frontend}/src/app.d.ts       |   0
 {frontend => app/frontend}/src/app.html       |   0
 .../frontend}/src/lib/LidarStream.svelte      |   0
 .../frontend/src/lib/WebSocketStore.ts        |   0
 {frontend => app/frontend}/src/lib/index.ts   |   0
 .../frontend}/src/routes/+layout.js           |   0
 .../frontend}/src/routes/+page.svelte         |   0
 .../frontend}/src/routes/room/[slug]/+page.js |   0
 .../src/routes/room/[slug]/+page.svelte       |   0
 {frontend => app/frontend}/static/favicon.png | Bin
 {frontend => app/frontend}/svelte.config.js   |   0
 {frontend => app/frontend}/tsconfig.json      |   0
 {frontend => app/frontend}/vite.config.ts     |   0
 {lidar => app/raspberry_pi}/.gitignore        |   0
 .../.vscode/c_cpp_properties.json             |   0
 {raspberry_pi => app/raspberry_pi}/Doxyfile   |   0
 {raspberry_pi => app/raspberry_pi}/SETUP.md   |   0
 {raspberry_pi => app/raspberry_pi}/WHY.md     |   0
 .../raspberry_pi}/include/global/Config.hpp   |   0
 .../include/rplidar/ExpressPacket.hpp         |   0
 .../raspberry_pi}/include/rplidar/RPLidar.cpp |   4 +--
 .../raspberry_pi}/include/rplidar/RPLidar.h   |   0
 .../j/json-schema-validator-/port/xmake.lua   |   0
 .../j/json-schema-validator-/xmake.lua        |   0
 .../repository/packages/p/pca9685/xmake.lua   |   0
 .../repository/packages/w/wiringpi/xmake.lua  |   0
 .../raspberry_pi}/settings/config.jsonc       |   0
 .../src/car/display/CarConsole.hpp            |   0
 .../src/car/system/CarSystem.cpp              |   0
 .../raspberry_pi}/src/car/system/CarSystem.h  |   0
 .../src/car/system/lidar/LidarDevice.hpp      |   0
 .../src/car/system/lidar/LidarDummy.hpp       |   0
 .../src/car/system/lidar/LidarScanner.hpp     |   0
 .../car/system/messaging/MessagingSystem.hpp  |   0
 .../system/messaging/commands/MoveCommand.hpp |   0
 .../system/messaging/commands/TurnCommand.hpp |   0
 .../raspberry_pi}/src/main.cpp                |   0
 {raspberry_pi => app/raspberry_pi}/xmake.lua  |   0
 .../RPLidar}/include/ExpressPacket.hpp        |   0
 .../RPLidar}/include/RPLidar.h                |   0
 .../RPLidar/src}/RPLidar.cpp                  |   0
 libraries/RPLidar/test/test.cpp               |  32 ++++++++++++++++++
 libraries/RPLidar/xmake.lua                   |  16 +++++++++
 {raspberry_pi => old/lidar}/.gitignore        |   0
 {lidar => old/lidar}/src/main.cpp             |   0
 {lidar => old/lidar}/xmake.lua                |   0
 71 files changed, 56 insertions(+), 10 deletions(-)
 rename {backend => app/backend}/.vscode/c_cpp_properties.json (100%)
 rename {backend => app/backend}/.vscode/settings.json (100%)
 rename {backend => app/backend}/Doxyfile (100%)
 rename {backend => app/backend}/include/utils/Utility.hpp (100%)
 rename {backend => app/backend}/repository/packages/j/json-schema-validator-/port/xmake.lua (100%)
 rename {backend => app/backend}/repository/packages/j/json-schema-validator-/xmake.lua (100%)
 rename {backend => app/backend}/repository/packages/p/pca9685/xmake.lua (100%)
 rename {backend => app/backend}/repository/packages/w/wiringpi/xmake.lua (100%)
 rename {backend => app/backend}/settings/config.json (100%)
 rename {backend => app/backend}/src/controllers/DynamicController.hpp (100%)
 rename {backend => app/backend}/src/controllers/RoomController.hpp (100%)
 rename {backend => app/backend}/src/controllers/WebSocketChat.hpp (100%)
 rename {backend => app/backend}/src/main.cpp (100%)
 rename {backend => app/backend}/src/room/Room.hpp (100%)
 rename {backend => app/backend}/src/room/RoomManager.hpp (100%)
 rename {backend => app/backend}/src/room/User.hpp (100%)
 rename {backend => app/backend}/src/room/UserType.hpp (100%)
 rename {backend => app/backend}/src/test.py (100%)
 rename {backend => app/backend}/xmake.lua (100%)
 rename {frontend => app/frontend}/.gitignore (100%)
 rename {frontend => app/frontend}/.npmrc (100%)
 rename {frontend => app/frontend}/README.md (100%)
 rename {frontend => app/frontend}/package.json (100%)
 rename {frontend => app/frontend}/pnpm-lock.yaml (100%)
 rename {frontend => app/frontend}/src/app.d.ts (100%)
 rename {frontend => app/frontend}/src/app.html (100%)
 rename {frontend => app/frontend}/src/lib/LidarStream.svelte (100%)
 rename frontend/src/lib/WebsocketStore.ts => app/frontend/src/lib/WebSocketStore.ts (100%)
 rename {frontend => app/frontend}/src/lib/index.ts (100%)
 rename {frontend => app/frontend}/src/routes/+layout.js (100%)
 rename {frontend => app/frontend}/src/routes/+page.svelte (100%)
 rename {frontend => app/frontend}/src/routes/room/[slug]/+page.js (100%)
 rename {frontend => app/frontend}/src/routes/room/[slug]/+page.svelte (100%)
 rename {frontend => app/frontend}/static/favicon.png (100%)
 rename {frontend => app/frontend}/svelte.config.js (100%)
 rename {frontend => app/frontend}/tsconfig.json (100%)
 rename {frontend => app/frontend}/vite.config.ts (100%)
 rename {lidar => app/raspberry_pi}/.gitignore (100%)
 rename {raspberry_pi => app/raspberry_pi}/.vscode/c_cpp_properties.json (100%)
 rename {raspberry_pi => app/raspberry_pi}/Doxyfile (100%)
 rename {raspberry_pi => app/raspberry_pi}/SETUP.md (100%)
 rename {raspberry_pi => app/raspberry_pi}/WHY.md (100%)
 rename {raspberry_pi => app/raspberry_pi}/include/global/Config.hpp (100%)
 rename {raspberry_pi => app/raspberry_pi}/include/rplidar/ExpressPacket.hpp (100%)
 rename {raspberry_pi => app/raspberry_pi}/include/rplidar/RPLidar.cpp (99%)
 rename {raspberry_pi => app/raspberry_pi}/include/rplidar/RPLidar.h (100%)
 rename {raspberry_pi => app/raspberry_pi}/repository/packages/j/json-schema-validator-/port/xmake.lua (100%)
 rename {raspberry_pi => app/raspberry_pi}/repository/packages/j/json-schema-validator-/xmake.lua (100%)
 rename {raspberry_pi => app/raspberry_pi}/repository/packages/p/pca9685/xmake.lua (100%)
 rename {raspberry_pi => app/raspberry_pi}/repository/packages/w/wiringpi/xmake.lua (100%)
 rename {raspberry_pi => app/raspberry_pi}/settings/config.jsonc (100%)
 rename {raspberry_pi => app/raspberry_pi}/src/car/display/CarConsole.hpp (100%)
 rename {raspberry_pi => app/raspberry_pi}/src/car/system/CarSystem.cpp (100%)
 rename {raspberry_pi => app/raspberry_pi}/src/car/system/CarSystem.h (100%)
 rename {raspberry_pi => app/raspberry_pi}/src/car/system/lidar/LidarDevice.hpp (100%)
 rename {raspberry_pi => app/raspberry_pi}/src/car/system/lidar/LidarDummy.hpp (100%)
 rename {raspberry_pi => app/raspberry_pi}/src/car/system/lidar/LidarScanner.hpp (100%)
 rename {raspberry_pi => app/raspberry_pi}/src/car/system/messaging/MessagingSystem.hpp (100%)
 rename {raspberry_pi => app/raspberry_pi}/src/car/system/messaging/commands/MoveCommand.hpp (100%)
 rename {raspberry_pi => app/raspberry_pi}/src/car/system/messaging/commands/TurnCommand.hpp (100%)
 rename {raspberry_pi => app/raspberry_pi}/src/main.cpp (100%)
 rename {raspberry_pi => app/raspberry_pi}/xmake.lua (100%)
 rename {backend => libraries/RPLidar}/include/ExpressPacket.hpp (100%)
 rename {backend => libraries/RPLidar}/include/RPLidar.h (100%)
 rename {backend/include => libraries/RPLidar/src}/RPLidar.cpp (100%)
 create mode 100644 libraries/RPLidar/test/test.cpp
 create mode 100644 libraries/RPLidar/xmake.lua
 rename {raspberry_pi => old/lidar}/.gitignore (100%)
 rename {lidar => old/lidar}/src/main.cpp (100%)
 rename {lidar => old/lidar}/xmake.lua (100%)

diff --git a/Car-Application.code-workspace b/Car-Application.code-workspace
index 46369724..195545b1 100644
--- a/Car-Application.code-workspace
+++ b/Car-Application.code-workspace
@@ -4,19 +4,16 @@
 			"path": "."
 		},
 		{
-			"path": "backend"
+			"path": "app/backend"
 		},
 		{
-			"path": "frontend"
+			"path": "app/frontend"
 		},
 		{
-			"path": "raspberry_pi"
+			"path": "app/raspberry_pi"
 		},
 		{
-			"path": "tcp"
-		},
-		{
-			"path": "legacy"
+			"path": "old/legacy"
 		}
 	],
 	"settings": {
@@ -111,7 +108,8 @@
 			"source_location": "cpp",
 			"shared_mutex": "cpp",
 			"cinttypes": "cpp",
-			"filesystem": "cpp"
+			"filesystem": "cpp",
+			"variant": "cpp"
 		}
 	}
 }
\ No newline at end of file
diff --git a/backend/.vscode/c_cpp_properties.json b/app/backend/.vscode/c_cpp_properties.json
similarity index 100%
rename from backend/.vscode/c_cpp_properties.json
rename to app/backend/.vscode/c_cpp_properties.json
diff --git a/backend/.vscode/settings.json b/app/backend/.vscode/settings.json
similarity index 100%
rename from backend/.vscode/settings.json
rename to app/backend/.vscode/settings.json
diff --git a/backend/Doxyfile b/app/backend/Doxyfile
similarity index 100%
rename from backend/Doxyfile
rename to app/backend/Doxyfile
diff --git a/backend/include/utils/Utility.hpp b/app/backend/include/utils/Utility.hpp
similarity index 100%
rename from backend/include/utils/Utility.hpp
rename to app/backend/include/utils/Utility.hpp
diff --git a/backend/repository/packages/j/json-schema-validator-/port/xmake.lua b/app/backend/repository/packages/j/json-schema-validator-/port/xmake.lua
similarity index 100%
rename from backend/repository/packages/j/json-schema-validator-/port/xmake.lua
rename to app/backend/repository/packages/j/json-schema-validator-/port/xmake.lua
diff --git a/backend/repository/packages/j/json-schema-validator-/xmake.lua b/app/backend/repository/packages/j/json-schema-validator-/xmake.lua
similarity index 100%
rename from backend/repository/packages/j/json-schema-validator-/xmake.lua
rename to app/backend/repository/packages/j/json-schema-validator-/xmake.lua
diff --git a/backend/repository/packages/p/pca9685/xmake.lua b/app/backend/repository/packages/p/pca9685/xmake.lua
similarity index 100%
rename from backend/repository/packages/p/pca9685/xmake.lua
rename to app/backend/repository/packages/p/pca9685/xmake.lua
diff --git a/backend/repository/packages/w/wiringpi/xmake.lua b/app/backend/repository/packages/w/wiringpi/xmake.lua
similarity index 100%
rename from backend/repository/packages/w/wiringpi/xmake.lua
rename to app/backend/repository/packages/w/wiringpi/xmake.lua
diff --git a/backend/settings/config.json b/app/backend/settings/config.json
similarity index 100%
rename from backend/settings/config.json
rename to app/backend/settings/config.json
diff --git a/backend/src/controllers/DynamicController.hpp b/app/backend/src/controllers/DynamicController.hpp
similarity index 100%
rename from backend/src/controllers/DynamicController.hpp
rename to app/backend/src/controllers/DynamicController.hpp
diff --git a/backend/src/controllers/RoomController.hpp b/app/backend/src/controllers/RoomController.hpp
similarity index 100%
rename from backend/src/controllers/RoomController.hpp
rename to app/backend/src/controllers/RoomController.hpp
diff --git a/backend/src/controllers/WebSocketChat.hpp b/app/backend/src/controllers/WebSocketChat.hpp
similarity index 100%
rename from backend/src/controllers/WebSocketChat.hpp
rename to app/backend/src/controllers/WebSocketChat.hpp
diff --git a/backend/src/main.cpp b/app/backend/src/main.cpp
similarity index 100%
rename from backend/src/main.cpp
rename to app/backend/src/main.cpp
diff --git a/backend/src/room/Room.hpp b/app/backend/src/room/Room.hpp
similarity index 100%
rename from backend/src/room/Room.hpp
rename to app/backend/src/room/Room.hpp
diff --git a/backend/src/room/RoomManager.hpp b/app/backend/src/room/RoomManager.hpp
similarity index 100%
rename from backend/src/room/RoomManager.hpp
rename to app/backend/src/room/RoomManager.hpp
diff --git a/backend/src/room/User.hpp b/app/backend/src/room/User.hpp
similarity index 100%
rename from backend/src/room/User.hpp
rename to app/backend/src/room/User.hpp
diff --git a/backend/src/room/UserType.hpp b/app/backend/src/room/UserType.hpp
similarity index 100%
rename from backend/src/room/UserType.hpp
rename to app/backend/src/room/UserType.hpp
diff --git a/backend/src/test.py b/app/backend/src/test.py
similarity index 100%
rename from backend/src/test.py
rename to app/backend/src/test.py
diff --git a/backend/xmake.lua b/app/backend/xmake.lua
similarity index 100%
rename from backend/xmake.lua
rename to app/backend/xmake.lua
diff --git a/frontend/.gitignore b/app/frontend/.gitignore
similarity index 100%
rename from frontend/.gitignore
rename to app/frontend/.gitignore
diff --git a/frontend/.npmrc b/app/frontend/.npmrc
similarity index 100%
rename from frontend/.npmrc
rename to app/frontend/.npmrc
diff --git a/frontend/README.md b/app/frontend/README.md
similarity index 100%
rename from frontend/README.md
rename to app/frontend/README.md
diff --git a/frontend/package.json b/app/frontend/package.json
similarity index 100%
rename from frontend/package.json
rename to app/frontend/package.json
diff --git a/frontend/pnpm-lock.yaml b/app/frontend/pnpm-lock.yaml
similarity index 100%
rename from frontend/pnpm-lock.yaml
rename to app/frontend/pnpm-lock.yaml
diff --git a/frontend/src/app.d.ts b/app/frontend/src/app.d.ts
similarity index 100%
rename from frontend/src/app.d.ts
rename to app/frontend/src/app.d.ts
diff --git a/frontend/src/app.html b/app/frontend/src/app.html
similarity index 100%
rename from frontend/src/app.html
rename to app/frontend/src/app.html
diff --git a/frontend/src/lib/LidarStream.svelte b/app/frontend/src/lib/LidarStream.svelte
similarity index 100%
rename from frontend/src/lib/LidarStream.svelte
rename to app/frontend/src/lib/LidarStream.svelte
diff --git a/frontend/src/lib/WebsocketStore.ts b/app/frontend/src/lib/WebSocketStore.ts
similarity index 100%
rename from frontend/src/lib/WebsocketStore.ts
rename to app/frontend/src/lib/WebSocketStore.ts
diff --git a/frontend/src/lib/index.ts b/app/frontend/src/lib/index.ts
similarity index 100%
rename from frontend/src/lib/index.ts
rename to app/frontend/src/lib/index.ts
diff --git a/frontend/src/routes/+layout.js b/app/frontend/src/routes/+layout.js
similarity index 100%
rename from frontend/src/routes/+layout.js
rename to app/frontend/src/routes/+layout.js
diff --git a/frontend/src/routes/+page.svelte b/app/frontend/src/routes/+page.svelte
similarity index 100%
rename from frontend/src/routes/+page.svelte
rename to app/frontend/src/routes/+page.svelte
diff --git a/frontend/src/routes/room/[slug]/+page.js b/app/frontend/src/routes/room/[slug]/+page.js
similarity index 100%
rename from frontend/src/routes/room/[slug]/+page.js
rename to app/frontend/src/routes/room/[slug]/+page.js
diff --git a/frontend/src/routes/room/[slug]/+page.svelte b/app/frontend/src/routes/room/[slug]/+page.svelte
similarity index 100%
rename from frontend/src/routes/room/[slug]/+page.svelte
rename to app/frontend/src/routes/room/[slug]/+page.svelte
diff --git a/frontend/static/favicon.png b/app/frontend/static/favicon.png
similarity index 100%
rename from frontend/static/favicon.png
rename to app/frontend/static/favicon.png
diff --git a/frontend/svelte.config.js b/app/frontend/svelte.config.js
similarity index 100%
rename from frontend/svelte.config.js
rename to app/frontend/svelte.config.js
diff --git a/frontend/tsconfig.json b/app/frontend/tsconfig.json
similarity index 100%
rename from frontend/tsconfig.json
rename to app/frontend/tsconfig.json
diff --git a/frontend/vite.config.ts b/app/frontend/vite.config.ts
similarity index 100%
rename from frontend/vite.config.ts
rename to app/frontend/vite.config.ts
diff --git a/lidar/.gitignore b/app/raspberry_pi/.gitignore
similarity index 100%
rename from lidar/.gitignore
rename to app/raspberry_pi/.gitignore
diff --git a/raspberry_pi/.vscode/c_cpp_properties.json b/app/raspberry_pi/.vscode/c_cpp_properties.json
similarity index 100%
rename from raspberry_pi/.vscode/c_cpp_properties.json
rename to app/raspberry_pi/.vscode/c_cpp_properties.json
diff --git a/raspberry_pi/Doxyfile b/app/raspberry_pi/Doxyfile
similarity index 100%
rename from raspberry_pi/Doxyfile
rename to app/raspberry_pi/Doxyfile
diff --git a/raspberry_pi/SETUP.md b/app/raspberry_pi/SETUP.md
similarity index 100%
rename from raspberry_pi/SETUP.md
rename to app/raspberry_pi/SETUP.md
diff --git a/raspberry_pi/WHY.md b/app/raspberry_pi/WHY.md
similarity index 100%
rename from raspberry_pi/WHY.md
rename to app/raspberry_pi/WHY.md
diff --git a/raspberry_pi/include/global/Config.hpp b/app/raspberry_pi/include/global/Config.hpp
similarity index 100%
rename from raspberry_pi/include/global/Config.hpp
rename to app/raspberry_pi/include/global/Config.hpp
diff --git a/raspberry_pi/include/rplidar/ExpressPacket.hpp b/app/raspberry_pi/include/rplidar/ExpressPacket.hpp
similarity index 100%
rename from raspberry_pi/include/rplidar/ExpressPacket.hpp
rename to app/raspberry_pi/include/rplidar/ExpressPacket.hpp
diff --git a/raspberry_pi/include/rplidar/RPLidar.cpp b/app/raspberry_pi/include/rplidar/RPLidar.cpp
similarity index 99%
rename from raspberry_pi/include/rplidar/RPLidar.cpp
rename to app/raspberry_pi/include/rplidar/RPLidar.cpp
index b7387903..9f0755aa 100644
--- a/raspberry_pi/include/rplidar/RPLidar.cpp
+++ b/app/raspberry_pi/include/rplidar/RPLidar.cpp
@@ -175,8 +175,8 @@ namespace rplidar {
 	tl::expected<std::tuple<uint8_t, bool, uint8_t>, std::string> RPLidar::_read_descriptor()
 	{
 		// Read descriptor packet
-		std::vector<uint8_t> descriptor(DESCRIPTOR_LEN);
-		this->_serial->read(descriptor.data(), DESCRIPTOR_LEN);
+		std::string descriptor(DESCRIPTOR_LEN, '\0');
+		this->_serial->read(reinterpret_cast<uint8_t*>(&descriptor[0]), DESCRIPTOR_LEN);
 		spdlog::debug("Received descriptor: {}", spdlog::to_hex(descriptor));
 
 		if (descriptor.size() != DESCRIPTOR_LEN)
diff --git a/raspberry_pi/include/rplidar/RPLidar.h b/app/raspberry_pi/include/rplidar/RPLidar.h
similarity index 100%
rename from raspberry_pi/include/rplidar/RPLidar.h
rename to app/raspberry_pi/include/rplidar/RPLidar.h
diff --git a/raspberry_pi/repository/packages/j/json-schema-validator-/port/xmake.lua b/app/raspberry_pi/repository/packages/j/json-schema-validator-/port/xmake.lua
similarity index 100%
rename from raspberry_pi/repository/packages/j/json-schema-validator-/port/xmake.lua
rename to app/raspberry_pi/repository/packages/j/json-schema-validator-/port/xmake.lua
diff --git a/raspberry_pi/repository/packages/j/json-schema-validator-/xmake.lua b/app/raspberry_pi/repository/packages/j/json-schema-validator-/xmake.lua
similarity index 100%
rename from raspberry_pi/repository/packages/j/json-schema-validator-/xmake.lua
rename to app/raspberry_pi/repository/packages/j/json-schema-validator-/xmake.lua
diff --git a/raspberry_pi/repository/packages/p/pca9685/xmake.lua b/app/raspberry_pi/repository/packages/p/pca9685/xmake.lua
similarity index 100%
rename from raspberry_pi/repository/packages/p/pca9685/xmake.lua
rename to app/raspberry_pi/repository/packages/p/pca9685/xmake.lua
diff --git a/raspberry_pi/repository/packages/w/wiringpi/xmake.lua b/app/raspberry_pi/repository/packages/w/wiringpi/xmake.lua
similarity index 100%
rename from raspberry_pi/repository/packages/w/wiringpi/xmake.lua
rename to app/raspberry_pi/repository/packages/w/wiringpi/xmake.lua
diff --git a/raspberry_pi/settings/config.jsonc b/app/raspberry_pi/settings/config.jsonc
similarity index 100%
rename from raspberry_pi/settings/config.jsonc
rename to app/raspberry_pi/settings/config.jsonc
diff --git a/raspberry_pi/src/car/display/CarConsole.hpp b/app/raspberry_pi/src/car/display/CarConsole.hpp
similarity index 100%
rename from raspberry_pi/src/car/display/CarConsole.hpp
rename to app/raspberry_pi/src/car/display/CarConsole.hpp
diff --git a/raspberry_pi/src/car/system/CarSystem.cpp b/app/raspberry_pi/src/car/system/CarSystem.cpp
similarity index 100%
rename from raspberry_pi/src/car/system/CarSystem.cpp
rename to app/raspberry_pi/src/car/system/CarSystem.cpp
diff --git a/raspberry_pi/src/car/system/CarSystem.h b/app/raspberry_pi/src/car/system/CarSystem.h
similarity index 100%
rename from raspberry_pi/src/car/system/CarSystem.h
rename to app/raspberry_pi/src/car/system/CarSystem.h
diff --git a/raspberry_pi/src/car/system/lidar/LidarDevice.hpp b/app/raspberry_pi/src/car/system/lidar/LidarDevice.hpp
similarity index 100%
rename from raspberry_pi/src/car/system/lidar/LidarDevice.hpp
rename to app/raspberry_pi/src/car/system/lidar/LidarDevice.hpp
diff --git a/raspberry_pi/src/car/system/lidar/LidarDummy.hpp b/app/raspberry_pi/src/car/system/lidar/LidarDummy.hpp
similarity index 100%
rename from raspberry_pi/src/car/system/lidar/LidarDummy.hpp
rename to app/raspberry_pi/src/car/system/lidar/LidarDummy.hpp
diff --git a/raspberry_pi/src/car/system/lidar/LidarScanner.hpp b/app/raspberry_pi/src/car/system/lidar/LidarScanner.hpp
similarity index 100%
rename from raspberry_pi/src/car/system/lidar/LidarScanner.hpp
rename to app/raspberry_pi/src/car/system/lidar/LidarScanner.hpp
diff --git a/raspberry_pi/src/car/system/messaging/MessagingSystem.hpp b/app/raspberry_pi/src/car/system/messaging/MessagingSystem.hpp
similarity index 100%
rename from raspberry_pi/src/car/system/messaging/MessagingSystem.hpp
rename to app/raspberry_pi/src/car/system/messaging/MessagingSystem.hpp
diff --git a/raspberry_pi/src/car/system/messaging/commands/MoveCommand.hpp b/app/raspberry_pi/src/car/system/messaging/commands/MoveCommand.hpp
similarity index 100%
rename from raspberry_pi/src/car/system/messaging/commands/MoveCommand.hpp
rename to app/raspberry_pi/src/car/system/messaging/commands/MoveCommand.hpp
diff --git a/raspberry_pi/src/car/system/messaging/commands/TurnCommand.hpp b/app/raspberry_pi/src/car/system/messaging/commands/TurnCommand.hpp
similarity index 100%
rename from raspberry_pi/src/car/system/messaging/commands/TurnCommand.hpp
rename to app/raspberry_pi/src/car/system/messaging/commands/TurnCommand.hpp
diff --git a/raspberry_pi/src/main.cpp b/app/raspberry_pi/src/main.cpp
similarity index 100%
rename from raspberry_pi/src/main.cpp
rename to app/raspberry_pi/src/main.cpp
diff --git a/raspberry_pi/xmake.lua b/app/raspberry_pi/xmake.lua
similarity index 100%
rename from raspberry_pi/xmake.lua
rename to app/raspberry_pi/xmake.lua
diff --git a/backend/include/ExpressPacket.hpp b/libraries/RPLidar/include/ExpressPacket.hpp
similarity index 100%
rename from backend/include/ExpressPacket.hpp
rename to libraries/RPLidar/include/ExpressPacket.hpp
diff --git a/backend/include/RPLidar.h b/libraries/RPLidar/include/RPLidar.h
similarity index 100%
rename from backend/include/RPLidar.h
rename to libraries/RPLidar/include/RPLidar.h
diff --git a/backend/include/RPLidar.cpp b/libraries/RPLidar/src/RPLidar.cpp
similarity index 100%
rename from backend/include/RPLidar.cpp
rename to libraries/RPLidar/src/RPLidar.cpp
diff --git a/libraries/RPLidar/test/test.cpp b/libraries/RPLidar/test/test.cpp
new file mode 100644
index 00000000..55ff8dd4
--- /dev/null
+++ b/libraries/RPLidar/test/test.cpp
@@ -0,0 +1,32 @@
+#include <RPLidar.h>
+
+int main()
+{
+    auto lidar = RPLidar("COM3");
+
+    auto info = lidar.get_info();
+    std::cout << fmt::format("model: {}, firmware: ({}, {}), hardware: {}, serialnumber: {}\n", info.model, info.firmware.first, info.firmware.second, info.hardware, info.serialNumber);
+
+    auto health = lidar.get_health();
+    std::cout << fmt::format("({}, {})\n", health.status, health.errorCode);
+
+    std::function<std::vector<Measure>()> scanGenerator = lidar.iter_scans();
+    for (int i = 0; i < 10; i++)
+    {
+        std::vector<Measure> scan = scanGenerator();
+        std::cout << "Got " << scan.size() << " Measures!\n";
+        for (const Measure &measure : scan)
+        {
+            // Access individual measurements in the scan
+            bool newScan = measure.newScan;
+            int quality = measure.quality;
+            float angle = measure.angle;
+            float distance = measure.distance;
+        }
+    }
+
+    lidar.stop();
+    lidar.stop_motor();
+    lidar.disconnect();
+    return 0;
+}
\ No newline at end of file
diff --git a/libraries/RPLidar/xmake.lua b/libraries/RPLidar/xmake.lua
new file mode 100644
index 00000000..c4c94cfe
--- /dev/null
+++ b/libraries/RPLidar/xmake.lua
@@ -0,0 +1,16 @@
+add_requires("serial", "spdlog")
+
+target("RPLidar")
+    set_kind("static")
+    add_files("src/*.cpp")
+    add_headerfiles("include/(**.h)")
+    add_headerfiles("include/(**.hpp)")
+    add_includedirs("include")
+    add_packages("serial", "spdlog")
+
+target("test")
+    set_kind("binary")
+    add_files("test/*.cpp")
+    add_includedirs("include")
+    add_deps("RPLidar")
+    add_links("RPLidar")
\ No newline at end of file
diff --git a/raspberry_pi/.gitignore b/old/lidar/.gitignore
similarity index 100%
rename from raspberry_pi/.gitignore
rename to old/lidar/.gitignore
diff --git a/lidar/src/main.cpp b/old/lidar/src/main.cpp
similarity index 100%
rename from lidar/src/main.cpp
rename to old/lidar/src/main.cpp
diff --git a/lidar/xmake.lua b/old/lidar/xmake.lua
similarity index 100%
rename from lidar/xmake.lua
rename to old/lidar/xmake.lua