From 441f2df6e3019eea4648c51e72aa9764198ed425 Mon Sep 17 00:00:00 2001
From: Chi Huu Huynh <73843190+Chi-EEE@users.noreply.github.com>
Date: Wed, 3 Jan 2024 19:05:38 +0000
Subject: [PATCH] fix compile_commands, Use CXX instead of HPP for
 compile_commands

---
 app/raspberry_pi/include/global/Config.hpp    |   4 +-
 app/raspberry_pi/include/rplidar/RPLidar.cpp  | 633 ------------------
 .../packages/t/tb6612/tb6612/include/TB6612.h |  32 +
 .../t/tb6612/tb6612/include/TB6612.hpp        |  54 --
 .../packages/t/tb6612/tb6612/src/TB6612.cpp   |  37 +
 .../packages/t/tb6612/tb6612/xmake.lua        |   5 +-
 .../repository/packages/t/tb6612/xmake.lua    |   1 -
 .../{CarConsole.hpp => CarConsole.cxx}        |   0
 app/raspberry_pi/src/car/system/CarSystem.h   |   6 +-
 .../{LidarDevice.hpp => LidarDevice.cxx}      |   4 +-
 .../lidar/{LidarDummy.hpp => LidarDummy.cxx}  |   6 +-
 .../{LidarScanner.hpp => LidarScanner.cxx}    |   6 +-
 ...essagingSystem.hpp => MessagingSystem.cxx} |   8 +-
 .../{MoveCommand.hpp => MoveCommand.cxx}      |   4 +-
 .../{TurnCommand.hpp => TurnCommand.cxx}      |   4 +-
 ...{MovementSystem.hpp => MovementSystem.cxx} |  11 +-
 .../wheels/{FrontWheel.hpp => FrontWheel.cxx} |   5 +
 .../wheels/{RearWheel.hpp => RearWheel.cxx}   |   9 +-
 app/raspberry_pi/src/main.cpp                 |   8 +-
 app/raspberry_pi/xmake.lua                    |   7 +-
 20 files changed, 120 insertions(+), 724 deletions(-)
 delete mode 100644 app/raspberry_pi/include/rplidar/RPLidar.cpp
 create mode 100644 app/raspberry_pi/repository/packages/t/tb6612/tb6612/include/TB6612.h
 delete mode 100644 app/raspberry_pi/repository/packages/t/tb6612/tb6612/include/TB6612.hpp
 create mode 100644 app/raspberry_pi/repository/packages/t/tb6612/tb6612/src/TB6612.cpp
 rename app/raspberry_pi/src/car/display/{CarConsole.hpp => CarConsole.cxx} (100%)
 rename app/raspberry_pi/src/car/system/lidar/{LidarDevice.hpp => LidarDevice.cxx} (87%)
 rename app/raspberry_pi/src/car/system/lidar/{LidarDummy.hpp => LidarDummy.cxx} (86%)
 rename app/raspberry_pi/src/car/system/lidar/{LidarScanner.hpp => LidarScanner.cxx} (95%)
 rename app/raspberry_pi/src/car/system/messaging/{MessagingSystem.hpp => MessagingSystem.cxx} (95%)
 rename app/raspberry_pi/src/car/system/messaging/commands/{MoveCommand.hpp => MoveCommand.cxx} (69%)
 rename app/raspberry_pi/src/car/system/messaging/commands/{TurnCommand.hpp => TurnCommand.cxx} (70%)
 rename app/raspberry_pi/src/car/system/movement/{MovementSystem.hpp => MovementSystem.cxx} (77%)
 rename app/raspberry_pi/src/car/system/movement/wheels/{FrontWheel.hpp => FrontWheel.cxx} (96%)
 rename app/raspberry_pi/src/car/system/movement/wheels/{RearWheel.hpp => RearWheel.cxx} (94%)

diff --git a/app/raspberry_pi/include/global/Config.hpp b/app/raspberry_pi/include/global/Config.hpp
index 953bbd93..97ced0aa 100644
--- a/app/raspberry_pi/include/global/Config.hpp
+++ b/app/raspberry_pi/include/global/Config.hpp
@@ -1,5 +1,5 @@
-#ifndef CONFIG_HPP
-#define CONFIG_HPP
+#ifndef CONFIG_CXX
+#define CONFIG_CXX
 
 #pragma once
 
diff --git a/app/raspberry_pi/include/rplidar/RPLidar.cpp b/app/raspberry_pi/include/rplidar/RPLidar.cpp
deleted file mode 100644
index d6a8a509..00000000
--- a/app/raspberry_pi/include/rplidar/RPLidar.cpp
+++ /dev/null
@@ -1,633 +0,0 @@
-#include "RPLidar.h"
-
-// Made with the help of ChatGPT
-
-/*
-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();
-
-*/
-
-namespace rplidar {
-	/**
-	 * @brief Initilize RPLidar object for communicating with the sensor
-	 *
-	 * @param port Serial port name to which sensor is connected
-	 * @param baudrate Baudrate for serial connection (the default is 115200)
-	 */
-	RPLidar::RPLidar(const std::string& port, uint32_t baudrate, std::unique_ptr<serial::Serial> serial): port(port), baudrate(baudrate), _serial(std::move(serial))
-	{
-	}
-
-	tl::expected<std::unique_ptr<RPLidar>, nullptr_t> RPLidar::create(const std::string& port, uint32_t baudrate)
-	{
-		try
-		{
-			std::unique_ptr<serial::Serial> serial = std::make_unique<serial::Serial>(port, baudrate, serial::Timeout(1000U, 60000U, 0U, 1000U, 0U));
-			std::unique_ptr<RPLidar> lidar = std::make_unique<RPLidar>(port, baudrate, std::move(serial));
-			return std::move(lidar);
-		}
-		catch (std::exception& e)
-		{
-			return tl::make_unexpected(nullptr);
-		}
-
-	}
-
-	RPLidar::~RPLidar()
-	{
-	}
-
-	void RPLidar::disconnect()
-	{
-		if (!this->_serial->isOpen())
-		{
-			return;
-		}
-		this->_serial->close();
-	}
-
-	void RPLidar::_set_pwm(int pwm)
-	{
-		std::string payload;
-		payload.push_back(static_cast<uint8_t>(pwm & 0xFF));
-		payload.push_back(static_cast<uint8_t>((pwm >> 8) & 0xFF));
-		this->_send_payload_cmd(SET_PWM_BYTE, payload);
-	}
-
-	void RPLidar::set_motor_speed(int pwm)
-	{
-		if (0 <= pwm && pwm <= MAX_MOTOR_PWM)
-		{
-			std::abort();
-		}
-		this->_motor_speed = pwm;
-		if (this->motor_running)
-			this->_set_pwm(this->_motor_speed);
-	}
-
-	/**
-	 * @brief Starts sensor motor
-	 *
-	 */
-	void RPLidar::start_motor()
-	{
-		spdlog::info("Starting motor");
-		// For A1
-		this->_serial->setDTR(false);
-
-		// For A2
-		this->_set_pwm(this->_motor_speed);
-		this->motor_running = true;
-	}
-
-	/**
-	 * @brief Stops sensor motor
-	 *
-	 */
-	void RPLidar::stop_motor()
-	{
-		spdlog::info("Stopping motor");
-		// For A2
-		this->_set_pwm(0);
-		std::this_thread::sleep_for(std::chrono::milliseconds(1));
-
-		// For A1
-		this->_serial->setDTR(true);
-		this->motor_running = false;
-	}
-
-	/**
-	 * @brief Sends `cmd` command with `payload` to the sensor
-	 *
-	 * @param cmd
-	 * @param payload
-	 */
-	void RPLidar::_send_payload_cmd(uint8_t cmd, const std::string& payload)
-	{
-		// Calculate the size
-		uint8_t size = static_cast<uint8_t>(payload.size());
-
-		// Construct the request string
-		std::string req;
-		req += static_cast<uint8_t>(SYNC_BYTE);
-		req += static_cast<uint8_t>(cmd);
-		req += static_cast<uint8_t>(size);
-		req += payload;
-
-		// Calculate the checksum
-		uint8_t checksum = 0;
-		for (const uint8_t& c : req)
-		{
-			checksum ^= static_cast<uint8_t>(c);
-		}
-
-		req += static_cast<uint8_t>(checksum);
-
-		this->_serial->write(req);
-		spdlog::debug("Command sent: {}", spdlog::to_hex(req));
-	}
-
-	/**
-	 * @brief Sends `cmd` command to the sensor
-	 *
-	 * @param cmd
-	 */
-	void RPLidar::_send_cmd(uint8_t cmd)
-	{
-		std::string req;
-		req += static_cast<uint8_t>(SYNC_BYTE);
-		req += static_cast<uint8_t>(cmd);
-
-		this->_serial->write(req);
-		spdlog::debug("Command sent: {}", spdlog::to_hex(req));
-	}
-
-	/**
-	 * @brief Reads descriptor packet
-	 *
-	 * @return tl::expected<std::tuple<uint8_t, bool, uint8_t>, std::string>
-	 */
-	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);
-		spdlog::debug("Received descriptor: {}", spdlog::to_hex(descriptor));
-
-		if (descriptor.size() != DESCRIPTOR_LEN)
-		{
-			return tl::make_unexpected("Descriptor length mismatch");
-		}
-		else if (descriptor[0] != SYNC_BYTE || descriptor[1] != SYNC_BYTE2)
-		{
-			return tl::make_unexpected("Incorrect descriptor starting bytes");
-		}
-
-		bool isSingle = descriptor[5] == 0;
-		return std::make_tuple(descriptor[2], isSingle, descriptor[6]);
-	}
-
-	/**
-	 * @brief Reads response packet with length of `dsize` bytes
-	 *
-	 * @param dsize
-	 * @return std::vector<uint8_t>
-	 */
-	std::vector<uint8_t> RPLidar::_read_response(int dsize)
-	{
-		spdlog::debug("Trying to read response: {} bytes", dsize);
-
-		std::vector<uint8_t> data;
-		data.reserve(dsize);
-
-		while (this->_serial->available() < dsize)
-		{
-			std::this_thread::sleep_for(std::chrono::milliseconds(1));
-		}
-
-		this->_serial->read(data, dsize);
-
-		spdlog::debug("Received data: {}", spdlog::to_hex(data));
-		return data;
-	}
-
-	std::string convertToHexString(uint8_t value)
-	{
-		// Convert a uint8_t to a hexadecimal string
-		std::stringstream stream;
-		stream << std::hex << std::uppercase << std::setw(2) << std::setfill('0') << static_cast<int>(value);
-		return stream.str();
-	}
-
-	/**
-	 * @brief Get device information
-	 *
-	 * @return tl::expected<DeviceInfo, std::string>
-	 */
-	tl::expected<DeviceInfo, std::string> RPLidar::get_info()
-	{
-		// Check if there's data in the buffer
-		if (this->_serial->available() > 0)
-		{
-			throw std::runtime_error("Data in buffer, you can't have info! Run flush() to empty the buffer.");
-		}
-		this->_send_cmd(GET_INFO_BYTE);
-
-		uint8_t dsize;
-		bool isSingle;
-		uint8_t dtype;
-		auto descriptor_result = this->_read_descriptor();
-		if (!descriptor_result.has_value())
-			return tl::make_unexpected(descriptor_result.error());
-		std::tie(dsize, isSingle, dtype) = descriptor_result.value();
-
-		// Check response properties
-		if (dsize != INFO_LEN)
-		{
-			return tl::make_unexpected("Wrong get_info reply length");
-		}
-		if (!isSingle)
-		{
-			return tl::make_unexpected("Not a single response mode");
-		}
-		if (dtype != INFO_TYPE)
-		{
-			return tl::make_unexpected("Wrong response data type");
-		}
-
-		// Read the response
-		std::vector<uint8_t> raw = this->_read_response(dsize);
-
-		// Convert serial number to a hex string
-		std::string serialNumber;
-		for (size_t i = 4; i < raw.size(); ++i)
-		{
-			serialNumber += convertToHexString(raw[i]);
-		}
-
-		// Construct the device info struct
-		DeviceInfo info;
-		info.model = raw[0];
-		info.firmware.first = raw[2];
-		info.firmware.second = raw[1];
-		info.hardware = raw[3];
-		info.serialNumber = serialNumber;
-
-		return info;
-	}
-
-	/**
-	 * @brief Get device health state. When the core system detects some
-			potential risk that may cause hardware failure in the future,
-			the returned status value will be 'Warning'. But sensor can still work
-			as normal. When sensor is in the Protection Stop state, the returned
-			status value will be 'Error'. In case of warning or error statuses
-			non-zero error code will be returned.
-	 *
-	 * @return tl::expected<HealthInfo, std::string>
-	 */
-	tl::expected<HealthInfo, std::string> RPLidar::get_health()
-	{
-		// Check if there's data in the buffer
-		if (this->_serial->available() > 0)
-		{
-			return tl::make_unexpected("Data in buffer, you can't get health info! Run cleanInput() to empty the buffer.");
-		}
-		spdlog::info("Asking for health");
-
-		this->_send_cmd(GET_HEALTH_BYTE);
-
-		// Read the descriptor
-		uint8_t dsize;
-		bool isSingle;
-		uint8_t dtype;
-		auto descriptor_result = this->_read_descriptor();
-		if (!descriptor_result.has_value())
-			return tl::make_unexpected(descriptor_result.error());
-		std::tie(dsize, isSingle, dtype) = descriptor_result.value();
-
-		// Check response properties
-		if (dsize != HEALTH_LEN)
-		{
-			return tl::make_unexpected("Wrong get_health reply length");
-		}
-		if (!isSingle)
-		{
-			return tl::make_unexpected("Not a single response mode");
-		}
-		if (dtype != HEALTH_TYPE)
-		{
-			return tl::make_unexpected("Wrong response data type");
-		}
-
-		// Read the response
-		std::vector<uint8_t> raw = this->_read_response(dsize);
-
-		// Extract status and error code
-		std::string status = HEALTH_STATUSES[raw[0]];
-		int errorCode = (static_cast<int>(raw[1]) << 8) + static_cast<int>(raw[2]);
-
-		return HealthInfo{ status, errorCode };
-	}
-
-	/**
-	 * @brief
-	 * Clean input buffer by reading all available data
-	 */
-	void RPLidar::clean_input()
-	{
-		if (this->scanning.currently_scanning)
-		{
-			throw std::runtime_error("Cleaning not allowed during scanning process active!");
-		}
-		this->_serial->flushInput();
-		this->express_trame = 32;
-		this->express_data = nullptr;
-	}
-
-	/**
-	 * @brief
-	 * Stops scanning process, disables laser diode and the measurement
-			system, moves sensor to the idle state.
-	 */
-	void RPLidar::stop()
-	{
-		spdlog::info("Stopping scanning");
-		this->_send_cmd(STOP_BYTE);
-		std::this_thread::sleep_for(std::chrono::milliseconds(100));
-		this->scanning.currently_scanning = false;
-		this->clean_input();
-	}
-
-	/**
-	 * @brief Start the scanning process
-	 *
-	 * @param scanType NORMAL, FORCE or EXPRESS
-	 */
-	tl::expected<nullptr_t, std::string> RPLidar::start(ScanType scanType = NORMAL)
-	{
-		if (this->scanning.currently_scanning)
-		{
-			return tl::make_unexpected("Scanning already running!");
-		}
-
-		auto health_info_result = this->get_health();
-		if (!health_info_result.has_value())
-			return tl::make_unexpected(health_info_result.error());
-		HealthInfo healthInfo = health_info_result.value();
-		std::string status = healthInfo.status;
-		int errorCode = healthInfo.errorCode;
-		spdlog::debug("Health status: {} [{}}]", status, errorCode);
-
-		if (status == "Error")
-		{
-			this->reset();
-			health_info_result = this->get_health();
-			if (!health_info_result.has_value())
-				return tl::make_unexpected(health_info_result.error());
-			healthInfo = health_info_result.value();
-			status = healthInfo.status;
-			errorCode = healthInfo.errorCode;
-			if (status == "Error")
-			{
-				return tl::make_unexpected("RPLidar hardware failure. Error code: " + std::to_string(errorCode));
-			}
-		}
-		else if (status == "Warning")
-		{
-			spdlog::warn("Warning sensor status detected! Error code: {}", errorCode);
-		}
-
-		uint8_t cmd = SCAN_TYPE[scanType]["byte"];
-
-		spdlog::warn("starting scan process in {} mode", scanType);
-
-		if (scanType == EXPRESS)
-		{
-			// Adjust this part according to your payload format
-			std::string payload = "\x00\x00\x00\x00\x00";
-			this->_send_payload_cmd(cmd, payload);
-		}
-		else
-		{
-			this->_send_cmd(cmd);
-		}
-
-		uint8_t dsize;
-		bool isSingle;
-		uint8_t dtype;
-		auto descriptor_result = this->_read_descriptor();
-		if (!descriptor_result.has_value())
-			return tl::make_unexpected(descriptor_result.error());
-		std::tie(dsize, isSingle, dtype) = descriptor_result.value();
-
-		if (dsize != SCAN_TYPE[scanType]["size"])
-		{
-			return tl::make_unexpected("Wrong get_info reply length");
-		}
-		if (isSingle)
-		{
-			return tl::make_unexpected("Not a multiple response mode");
-		}
-		if (dtype != SCAN_TYPE[scanType]["response"])
-		{
-			return tl::make_unexpected("Wrong response data type");
-		}
-
-		scanning = { true, dsize, scanType };
-	}
-
-	/**
-	 * @brief Resets sensor core, reverting it to a similar state as it has
-			just been powered up.
-	 *
-	 */
-	void RPLidar::reset()
-	{
-		spdlog::info("Resetting the sensor");
-		this->_send_cmd(RESET_BYTE);
-		std::this_thread::sleep_for(std::chrono::milliseconds(2000));
-		this->clean_input();
-	}
-
-	tl::expected<Measure, std::string> _process_scan(const std::vector<uint8_t>& raw)
-	{
-		Measure measurementData;
-
-		bool newScan = static_cast<bool>(raw[0] & 0b1);
-		bool inversedNewScan = static_cast<bool>((raw[0] >> 1) & 0b1);
-		int quality = static_cast<int>(raw[0] >> 2);
-
-		if (newScan == inversedNewScan)
-		{
-			return tl::make_unexpected("New scan flags mismatch");
-		}
-
-		int checkBit = static_cast<int>(raw[1] & 0b1);
-		if (checkBit != 1)
-		{
-			return tl::make_unexpected("Check bit not equal to 1");
-		}
-
-		int anglePart1 = static_cast<int>(raw[1] >> 1);
-		int anglePart2 = static_cast<int>(raw[2]) << 7;
-		float angle = (anglePart1 + anglePart2) / 64.0;
-
-		int distancePart1 = static_cast<int>(raw[3]);
-		int distancePart2 = static_cast<int>(raw[4]) << 8;
-		float distance = (distancePart1 + distancePart2) / 4.0;
-
-		measurementData.newScan = newScan;
-		measurementData.quality = quality;
-		measurementData.angle = angle;
-		measurementData.distance = distance;
-
-		return measurementData;
-	}
-
-	Measure _process_express_scan(std::unique_ptr<ExpressPacket>& data, float newAngle, int trame)
-	{
-		Measure measurementData;
-
-		bool newScan = (newAngle < data->start_angle) && (trame == 1);
-
-		float angle = std::fmod((data->start_angle + ((newAngle - data->start_angle) / 32 * trame - data->angle[trame - 1])), 360);
-		float distance = data->distance[trame - 1];
-
-		measurementData.newScan = newScan;
-		measurementData.quality = 0; // Replace this with your actual quality value
-		measurementData.angle = angle;
-		measurementData.distance = distance;
-
-		return measurementData;
-	}
-
-	/**
-	 * @brief Iterate over measures. Note that consumer must be fast enough,
-			otherwise data will be accumulated inside buffer and consumer will get
-			data with increasing lag.
-	 *
-	 * @param scanType
-	 * @param maxBufMeas int or False if you want unlimited buffer
-				Maximum number of bytes to be stored inside the buffer. Once
-				numbe exceeds this limit buffer will be emptied out.
-	 * @return std::function<Measure()>
-	 */
-	std::function<tl::expected<Measure, std::string>()> RPLidar::iter_measures(ScanType scanType, int maxBufMeas)
-	{
-		if (!this->motor_running) {
-			this->start_motor();
-		}
-
-		if (!this->scanning.currently_scanning)
-		{
-			this->start(scanType);
-		}
-
-		// Define a lambda function to generate measures
-		auto generator = [this, scanType, maxBufMeas]() -> tl::expected<Measure, std::string>
-			{
-				while (true)
-				{
-					int dsize = scanning.dsize;
-
-					if (maxBufMeas != 0)
-					{
-						int dataInBuf = this->_serial->available();
-						if (dataInBuf > maxBufMeas)
-						{
-							spdlog::warn(
-								"Too many bytes in the input buffer: {}/{}. \n"
-								"Cleaning buffer...",
-								dataInBuf, maxBufMeas);
-							this->stop();
-							this->start(scanning.type);
-						}
-					}
-
-					if (scanType == NORMAL)
-					{
-						std::vector<uint8_t> raw = this->_read_response(dsize);
-						auto process_scan_result = _process_scan(raw);
-						if (!process_scan_result.has_value())
-							return tl::make_unexpected(process_scan_result.error());
-						Measure measure = process_scan_result.value();
-						return measure;
-					}
-					else if (scanType == EXPRESS)
-					{
-						if (this->express_trame == 32)
-						{
-							this->express_trame = 0;
-
-							if (this->express_data == nullptr)
-							{
-								spdlog::debug("reading first time bytes");
-								this->express_data = std::make_unique<ExpressPacket>(ExpressPacket(this->_read_response(dsize)));
-							}
-
-							this->express_old_data = std::move(this->express_data);
-							spdlog::debug("set old_data with start_angle {}", this->express_old_data->start_angle);
-							this->express_data = std::make_unique<ExpressPacket>(ExpressPacket(this->_read_response(dsize)));
-							spdlog::debug("set new_data with start_angle {}", this->express_data->start_angle);
-						}
-						this->express_trame++;
-						spdlog::debug("process scan of frame %d with angle : \n"
-							"%f and angle new : %f", this->express_trame,
-							this->express_old_data->start_angle,
-							this->express_data->start_angle);
-						Measure measure = _process_express_scan(this->express_old_data, this->express_data->start_angle, this->express_trame);
-						return measure;
-					}
-				}
-			};
-
-		return generator;
-	}
-
-	/**
-	 * @brief Iterate over scans. Note that consumer must be fast enough,
-			otherwise data will be accumulated inside buffer and consumer will get
-			data with increasing lag.
-	 *
-	 * @param scanType
-	 * @param maxBufMeas Maximum number of measures to be stored inside the buffer. Once
-				numbe exceeds this limit buffer will be emptied out.
-	 * @param minLen Minimum number of measures in the scan for it to be yelded.
-	 * @return std::function<std::vector<Measure>()>
-	 */
-	std::function<std::vector<Measure>()> RPLidar::iter_scans(ScanType scanType, int maxBufMeas, int minLen)
-	{
-		std::vector<Measure> scanList;
-		std::function<tl::expected<Measure, std::string>()> measureIterator = this->iter_measures(scanType, maxBufMeas);
-
-		// Define a lambda function to generate scans
-		auto scanGenerator = [this, scanType, maxBufMeas, minLen, measureIterator]() -> std::vector<Measure>
-			{
-				std::vector<Measure> scanList;
-				for (;;)
-				{
-					Measure measure = measureIterator().value();
-					bool newScan = measure.newScan;
-					if (newScan)
-					{
-						if (scanList.size() > minLen)
-						{
-							return scanList;
-						}
-						scanList.clear();
-					}
-					if (measure.distance > 0)
-					{
-						scanList.push_back(measure);
-					}
-				}
-			};
-		return scanGenerator;
-	}
-} // namespace rplidar
\ No newline at end of file
diff --git a/app/raspberry_pi/repository/packages/t/tb6612/tb6612/include/TB6612.h b/app/raspberry_pi/repository/packages/t/tb6612/tb6612/include/TB6612.h
new file mode 100644
index 00000000..8a085374
--- /dev/null
+++ b/app/raspberry_pi/repository/packages/t/tb6612/tb6612/include/TB6612.h
@@ -0,0 +1,32 @@
+#ifndef TB6612_HPP
+#define TB6612_HPP
+
+#pragma once
+
+// Made with the help of ChatGPT
+
+#include "pigpio.h"
+#include "pigpiod_if2.h"
+
+class TB6612
+{
+public:
+    TB6612(int motor_pin, int pwm_pin);
+
+    void setPWM(int value);
+
+    void forward();
+
+    void backward();
+
+    void stop();
+
+    void setOffset(int offset);
+
+private:
+    int motor_pin;
+    int pwm_pin;
+    int offset;
+};
+
+#endif
\ No newline at end of file
diff --git a/app/raspberry_pi/repository/packages/t/tb6612/tb6612/include/TB6612.hpp b/app/raspberry_pi/repository/packages/t/tb6612/tb6612/include/TB6612.hpp
deleted file mode 100644
index f9fc5506..00000000
--- a/app/raspberry_pi/repository/packages/t/tb6612/tb6612/include/TB6612.hpp
+++ /dev/null
@@ -1,54 +0,0 @@
-#ifndef TB6612_H
-#define TB6612_H
-
-#pragma once
-
-// Made with the help of ChatGPT
-
-#include "pigpio.h"
-#include "pigpiod_if2.h"
-
-class TB6612
-{
-public:
-    TB6612(int motor_pin, int pwm_pin) : motor_pin(motor_pin), pwm_pin(pwm_pin), offset(1)
-    {
-        gpioSetMode(this->motor_pin, PI_OUTPUT);
-        gpioSetMode(this->pwm_pin, PI_OUTPUT);
-        gpioWrite(this->motor_pin, 0);
-        gpioPWM(this->pwm_pin, 0);
-    }
-
-    void setPWM(int value)
-    {
-        gpioPWM(this->pwm_pin, value);
-    }
-
-    void forward()
-    {
-        gpioWrite(this->motor_pin, this->offset);
-    }
-
-    void backward()
-    {
-        gpioWrite(this->motor_pin, 1 - this->offset);
-    }
-
-    void stop()
-    {
-        gpioWrite(this->motor_pin, 0);
-        gpioPWM(this->pwm_pin, 0);
-    }
-
-    void setOffset(int offset)
-    {
-        this->offset = offset;
-    }
-
-private:
-    int motor_pin;
-    int pwm_pin;
-    int offset;
-};
-
-#endif
\ No newline at end of file
diff --git a/app/raspberry_pi/repository/packages/t/tb6612/tb6612/src/TB6612.cpp b/app/raspberry_pi/repository/packages/t/tb6612/tb6612/src/TB6612.cpp
new file mode 100644
index 00000000..b350f437
--- /dev/null
+++ b/app/raspberry_pi/repository/packages/t/tb6612/tb6612/src/TB6612.cpp
@@ -0,0 +1,37 @@
+#include "TB6612.h"
+
+// Made with the help of ChatGPT
+
+TB6612::TB6612(int motor_pin, int pwm_pin) : motor_pin(motor_pin), pwm_pin(pwm_pin), offset(1)
+{
+    gpioSetMode(this->motor_pin, PI_OUTPUT);
+    gpioSetMode(this->pwm_pin, PI_OUTPUT);
+    gpioWrite(this->motor_pin, 0);
+    gpioPWM(this->pwm_pin, 0);
+}
+
+void TB6612::setPWM(int value)
+{
+    gpioPWM(this->pwm_pin, value);
+}
+
+void TB6612::forward()
+{
+    gpioWrite(this->motor_pin, this->offset);
+}
+
+void TB6612::backward()
+{
+    gpioWrite(this->motor_pin, 1 - this->offset);
+}
+
+void TB6612::stop()
+{
+    gpioWrite(this->motor_pin, 0);
+    gpioPWM(this->pwm_pin, 0);
+}
+
+void TB6612::setOffset(int offset)
+{
+    this->offset = offset;
+}
\ No newline at end of file
diff --git a/app/raspberry_pi/repository/packages/t/tb6612/tb6612/xmake.lua b/app/raspberry_pi/repository/packages/t/tb6612/tb6612/xmake.lua
index 19881444..af72ffe7 100644
--- a/app/raspberry_pi/repository/packages/t/tb6612/tb6612/xmake.lua
+++ b/app/raspberry_pi/repository/packages/t/tb6612/tb6612/xmake.lua
@@ -1,7 +1,8 @@
 add_requires("pigpio")
 
 target("tb6612")
-    set_kind("headeronly")
-    add_headerfiles("include/(TB6612.hpp)")
+    set_kind("static")
+    add_files("src/*.cpp")
+    add_headerfiles("include/(TB6612.h)")
     add_includedirs("include")
     add_packages("pigpio")
diff --git a/app/raspberry_pi/repository/packages/t/tb6612/xmake.lua b/app/raspberry_pi/repository/packages/t/tb6612/xmake.lua
index 7f921c20..d6d92a9c 100644
--- a/app/raspberry_pi/repository/packages/t/tb6612/xmake.lua
+++ b/app/raspberry_pi/repository/packages/t/tb6612/xmake.lua
@@ -1,7 +1,6 @@
 package("tb6612")
     add_deps("pigpio")
     set_sourcedir(path.join(os.scriptdir(), "tb6612"))
-    set_policy("package.install_always", true)
     on_install(function (package)
         local configs = {}
         import("package.tools.xmake").install(package, configs)
diff --git a/app/raspberry_pi/src/car/display/CarConsole.hpp b/app/raspberry_pi/src/car/display/CarConsole.cxx
similarity index 100%
rename from app/raspberry_pi/src/car/display/CarConsole.hpp
rename to app/raspberry_pi/src/car/display/CarConsole.cxx
diff --git a/app/raspberry_pi/src/car/system/CarSystem.h b/app/raspberry_pi/src/car/system/CarSystem.h
index aa40f8f3..c6d9ad5f 100644
--- a/app/raspberry_pi/src/car/system/CarSystem.h
+++ b/app/raspberry_pi/src/car/system/CarSystem.h
@@ -7,9 +7,9 @@
 
 #include <nlohmann/json.hpp>
 
-#include "lidar/LidarDevice.hpp"
-#include "messaging/MessagingSystem.hpp"
-#include "movement/MovementSystem.hpp"
+#include "lidar/LidarDevice.cxx"
+#include "messaging/MessagingSystem.cxx"
+#include "movement/MovementSystem.cxx"
 
 using json = nlohmann::json;
 
diff --git a/app/raspberry_pi/src/car/system/lidar/LidarDevice.hpp b/app/raspberry_pi/src/car/system/lidar/LidarDevice.cxx
similarity index 87%
rename from app/raspberry_pi/src/car/system/lidar/LidarDevice.hpp
rename to app/raspberry_pi/src/car/system/lidar/LidarDevice.cxx
index 99a2913f..b0390a89 100644
--- a/app/raspberry_pi/src/car/system/lidar/LidarDevice.hpp
+++ b/app/raspberry_pi/src/car/system/lidar/LidarDevice.cxx
@@ -1,5 +1,5 @@
-#ifndef LidarDevice_HPP
-#define LidarDevice_HPP
+#ifndef LidarDevice_CXX
+#define LidarDevice_CXX
 
 #pragma once
 
diff --git a/app/raspberry_pi/src/car/system/lidar/LidarDummy.hpp b/app/raspberry_pi/src/car/system/lidar/LidarDummy.cxx
similarity index 86%
rename from app/raspberry_pi/src/car/system/lidar/LidarDummy.hpp
rename to app/raspberry_pi/src/car/system/lidar/LidarDummy.cxx
index b9132187..407e1a0f 100644
--- a/app/raspberry_pi/src/car/system/lidar/LidarDummy.hpp
+++ b/app/raspberry_pi/src/car/system/lidar/LidarDummy.cxx
@@ -1,5 +1,5 @@
-#ifndef LIDARDUMMY_HPP
-#define LIDARDUMMY_HPP
+#ifndef LIDARDUMMY_CXX
+#define LIDARDUMMY_CXX
 
 #pragma once
 
@@ -7,7 +7,7 @@
 
 #include <spdlog/spdlog.h>
 
-#include "LidarDevice.hpp"
+#include "LidarDevice.cxx"
 
 namespace car::system::lidar {
 	class LidarDummy : public LidarDevice
diff --git a/app/raspberry_pi/src/car/system/lidar/LidarScanner.hpp b/app/raspberry_pi/src/car/system/lidar/LidarScanner.cxx
similarity index 95%
rename from app/raspberry_pi/src/car/system/lidar/LidarScanner.hpp
rename to app/raspberry_pi/src/car/system/lidar/LidarScanner.cxx
index c093b5ee..75016d25 100644
--- a/app/raspberry_pi/src/car/system/lidar/LidarScanner.hpp
+++ b/app/raspberry_pi/src/car/system/lidar/LidarScanner.cxx
@@ -1,9 +1,9 @@
-#ifndef LIDARSCANNER_HPP
-#define LIDARSCANNER_HPP
+#ifndef LIDARSCANNER_CXX
+#define LIDARSCANNER_CXX
 
 #pragma once
 
-#include "LidarDevice.hpp"
+#include "LidarDevice.cxx"
 
 #include <memory>
 
diff --git a/app/raspberry_pi/src/car/system/messaging/MessagingSystem.hpp b/app/raspberry_pi/src/car/system/messaging/MessagingSystem.cxx
similarity index 95%
rename from app/raspberry_pi/src/car/system/messaging/MessagingSystem.hpp
rename to app/raspberry_pi/src/car/system/messaging/MessagingSystem.cxx
index 0da70c23..86937601 100644
--- a/app/raspberry_pi/src/car/system/messaging/MessagingSystem.hpp
+++ b/app/raspberry_pi/src/car/system/messaging/MessagingSystem.cxx
@@ -1,5 +1,5 @@
-#ifndef MESSAGINGSYSTEM_HPP
-#define MESSAGINGSYSTEM_HPP
+#ifndef MESSAGINGSYSTEM_CXX
+#define MESSAGINGSYSTEM_CXX
 
 #pragma once
 
@@ -15,8 +15,8 @@
 
 #include <nlohmann/json.hpp>
 
-#include "commands/MoveCommand.hpp"
-#include "commands/TurnCommand.hpp"
+#include "commands/MoveCommand.cxx"
+#include "commands/TurnCommand.cxx"
 
 using json = nlohmann::json;
 
diff --git a/app/raspberry_pi/src/car/system/messaging/commands/MoveCommand.hpp b/app/raspberry_pi/src/car/system/messaging/commands/MoveCommand.cxx
similarity index 69%
rename from app/raspberry_pi/src/car/system/messaging/commands/MoveCommand.hpp
rename to app/raspberry_pi/src/car/system/messaging/commands/MoveCommand.cxx
index 9c433db7..e83b73bd 100644
--- a/app/raspberry_pi/src/car/system/messaging/commands/MoveCommand.hpp
+++ b/app/raspberry_pi/src/car/system/messaging/commands/MoveCommand.cxx
@@ -1,5 +1,5 @@
-#ifndef MOVECOMMAND_HPP
-#define MOVECOMMAND_HPP
+#ifndef MOVECOMMAND_CXX
+#define MOVECOMMAND_CXX
 
 #pragma once
 
diff --git a/app/raspberry_pi/src/car/system/messaging/commands/TurnCommand.hpp b/app/raspberry_pi/src/car/system/messaging/commands/TurnCommand.cxx
similarity index 70%
rename from app/raspberry_pi/src/car/system/messaging/commands/TurnCommand.hpp
rename to app/raspberry_pi/src/car/system/messaging/commands/TurnCommand.cxx
index 6f5a73e8..029980c5 100644
--- a/app/raspberry_pi/src/car/system/messaging/commands/TurnCommand.hpp
+++ b/app/raspberry_pi/src/car/system/messaging/commands/TurnCommand.cxx
@@ -1,5 +1,5 @@
-#ifndef TURNCOMMAND_HPP
-#define TURNCOMMAND_HPP
+#ifndef TURNCOMMAND_CXX
+#define TURNCOMMAND_CXX
 
 #pragma once
 
diff --git a/app/raspberry_pi/src/car/system/movement/MovementSystem.hpp b/app/raspberry_pi/src/car/system/movement/MovementSystem.cxx
similarity index 77%
rename from app/raspberry_pi/src/car/system/movement/MovementSystem.hpp
rename to app/raspberry_pi/src/car/system/movement/MovementSystem.cxx
index da834a97..85460cf1 100644
--- a/app/raspberry_pi/src/car/system/movement/MovementSystem.hpp
+++ b/app/raspberry_pi/src/car/system/movement/MovementSystem.cxx
@@ -1,5 +1,5 @@
-#ifndef MOVEMENTSYSTEM_HPP
-#define MOVEMENTSYSTEM_HPP
+#ifndef MOVEMENTSYSTEM_CXX
+#define MOVEMENTSYSTEM_CXX
 
 #pragma once
 
@@ -7,8 +7,11 @@
 
 #include "PCA9685.h"
 
-#include "../messaging/commands/MoveCommand.hpp"
-#include "../messaging/commands/TurnCommand.hpp"
+#include "../messaging/commands/MoveCommand.cxx"
+#include "../messaging/commands/TurnCommand.cxx"
+
+#include "wheels/FrontWheel.cxx"
+#include "wheels/RearWheel.cxx"
 
 using namespace car::system::messaging::commands;
 
diff --git a/app/raspberry_pi/src/car/system/movement/wheels/FrontWheel.hpp b/app/raspberry_pi/src/car/system/movement/wheels/FrontWheel.cxx
similarity index 96%
rename from app/raspberry_pi/src/car/system/movement/wheels/FrontWheel.hpp
rename to app/raspberry_pi/src/car/system/movement/wheels/FrontWheel.cxx
index 862368dd..caaa868c 100644
--- a/app/raspberry_pi/src/car/system/movement/wheels/FrontWheel.hpp
+++ b/app/raspberry_pi/src/car/system/movement/wheels/FrontWheel.cxx
@@ -1,3 +1,6 @@
+#ifndef FRONTWHEEL_CXX
+#define FRONTWHEEL_CXX
+
 #include <algorithm>
 
 #include <PCA9685.h>
@@ -54,3 +57,5 @@ namespace car::system::movement::wheels
 		int angle;
 	};
 } // namespace car::system::movement::wheels
+
+#endif
\ No newline at end of file
diff --git a/app/raspberry_pi/src/car/system/movement/wheels/RearWheel.hpp b/app/raspberry_pi/src/car/system/movement/wheels/RearWheel.cxx
similarity index 94%
rename from app/raspberry_pi/src/car/system/movement/wheels/RearWheel.hpp
rename to app/raspberry_pi/src/car/system/movement/wheels/RearWheel.cxx
index 997adb93..d9713e73 100644
--- a/app/raspberry_pi/src/car/system/movement/wheels/RearWheel.hpp
+++ b/app/raspberry_pi/src/car/system/movement/wheels/RearWheel.cxx
@@ -1,9 +1,12 @@
+#ifndef REARWHEEL_CXX
+#define REARWHEEL_CXX
+
 #include <memory>
 
 #include <spdlog/spdlog.h>
 
-#include <PCA9865.h>
-#include <TB6612.hpp>
+#include <PCA9685.h>
+#include <TB6612.h>
 
 // Made with the help of ChatGPT
 
@@ -87,3 +90,5 @@ namespace car::system::movement::wheels
 		int speed;
 	};
 } // namespace car::system::movement::wheels
+
+#endif
\ No newline at end of file
diff --git a/app/raspberry_pi/src/main.cpp b/app/raspberry_pi/src/main.cpp
index aba04f6a..37413d83 100644
--- a/app/raspberry_pi/src/main.cpp
+++ b/app/raspberry_pi/src/main.cpp
@@ -3,14 +3,14 @@
 
 #include <fmt/format.h>
 
-#include "global/Config.hpp"
+#include "global/Config.cxx"
 
-#include "car/display/CarConsole.hpp"
+#include "car/display/CarConsole.cxx"
 
 #include "car/system/CarSystem.h"
 
-#include "car/system/lidar/LidarScanner.hpp"
-#include "car/system/lidar/LidarDummy.hpp"
+#include "car/system/lidar/LidarScanner.cxx"
+#include "car/system/lidar/LidarDummy.cxx"
 
 std::string getWebSocketUrl()
 {
diff --git a/app/raspberry_pi/xmake.lua b/app/raspberry_pi/xmake.lua
index 30b2580f..cbd68ab6 100644
--- a/app/raspberry_pi/xmake.lua
+++ b/app/raspberry_pi/xmake.lua
@@ -48,12 +48,12 @@ target("raspberry_pi")
     -- For the SunFounder Car
     add_packages("rplidar")
     add_packages("pca9685")
-    add_packages("pigpio")
+    add_packages("tb6612")
 
     add_headerfiles("include/**.h")
 
-    add_headerfiles("src/**.h", "src/**.hpp")
-    add_files("src/**.cpp")
+    add_headerfiles("src/**.h")
+    add_files("src/**.cpp", "src/**.cxx")
     
     add_includedirs("include")
 
@@ -63,6 +63,7 @@ target("raspberry_pi")
 
     set_configdir("$(buildir)/$(plat)/$(arch)/$(mode)")
     add_configfiles("settings/config.jsonc", {onlycopy = true, prefixdir = "settings"})
+target_end()
     
 -- From xmake sample code:
 if is_plat("linux") then