Add mutex to safely shut down scan_generator

app/admin_panel/src/store/websocket_store.js

@@ -19,6 +19,7 @@ export const frame_buffer = writable("");
 
 window.api.onMessage((value) => {
     value = JSON.parse(value);
+    console.log(value);
     lidar.set(value.lidar);
     frame_buffer.set(value.frame_buffer);
 });

app/rpi/common/include/car/system/device/lidar/LidarDevice.h

@@ -39,6 +39,8 @@ namespace car::system::device::lidar
 		}
 
 		std::vector<Measure> scan_data_;
+
+		std::mutex scan_data_mutex_;
 	};
 }
 

app/rpi/common/include/car/system/device/lidar/LidarScanner.h

@@ -39,19 +39,25 @@ namespace car::system::device::lidar
 
 		void start() final override
 		{
+			std::lock_guard<std::mutex> lock(this->scan_data_mutex_);
+			this->running = true;
 			this->lidar_->start_motor();
 			this->scan_generator_ = this->lidar_->iter_scans();
 		};
 
 		void update() final override
 		{
-			assert(std::holds_alternative<std::function<std::vector<Measure>()>>(this->scan_generator_) && "LidarScanner::scan() called before start()");
-			const auto& scan_generator = std::get<std::function<std::vector<Measure>()>>(this->scan_generator_);
-			this->setScanData(scan_generator());
+			std::lock_guard<std::mutex> lock(this->scan_data_mutex_);
+			if (this->running) {
+				const auto& scan_generator = std::get<std::function<std::vector<Measure>()>>(this->scan_generator_);
+				this->setScanData(scan_generator());
+			}
 		};
 
 		void stop() final override
 		{
+			std::lock_guard<std::mutex> lock(this->scan_data_mutex_);
+			this->running = false;
 			this->scan_generator_ = nullptr;
 			this->lidar_->stop();
 			this->lidar_->stop_motor();
@@ -63,7 +69,10 @@ namespace car::system::device::lidar
 
 		void disconnect() final override
 		{
+			std::lock_guard<std::mutex> lock(this->scan_data_mutex_);
+			this->running = false;
 			this->lidar_->disconnect();
+			this->scan_generator_ = nullptr;
 		}
 
 		void terminate() final override
@@ -73,6 +82,8 @@ namespace car::system::device::lidar
 		}
 
 	private:
+		bool running = false;
+
 		std::shared_ptr<configuration::Configuration> configuration_;
 
 		std::vector<Measure> scan_data_;

app/rpi/common/src/car/system/CarSystem.cpp

@@ -55,7 +55,6 @@ namespace car::system
 	void CarSystem::start()
 	{
 		assert(this->initialized && "Car System has not been initialized yet.");
-		// this->lidar_device->start(); // Starting LidarDevice in connect instead.
 		this->movement_system_->start();
 		this->started = true;
 	}

app/rpi/common/src/car/system/device/CameraDevice.cpp

@@ -18,7 +18,7 @@ namespace car::system::device
 	}
 
 	void CameraDevice::update() {
-		if (!this->camera_->isOpened()) {
+		if (!this->connected_ || !this->camera_->isOpened()) {
 			this->frame_buffer_ = "";
 			return;
 		}

app/rpi/common/src/car/system/device/DeviceManager.cpp

@@ -55,8 +55,17 @@ namespace car::system::device {
 		{
 			return;
 		}
-		this->lidar_device_->update();
-		this->camera_device_->update();
+
+		std::thread lidar_thread([&]() {
+			this->lidar_device_->update();
+			});
+
+		std::thread camera_thread([&]() {
+			this->camera_device_->update();
+			});
+
+		lidar_thread.join();
+		camera_thread.join();
 	}
 
 	void DeviceManager::stop()