From f938d94bf2a2e8900ef11f7fa92674273f6efbec Mon Sep 17 00:00:00 2001
From: Chi Huu Huynh <73843190+Chi-EEE@users.noreply.github.com>
Date: Sun, 8 Oct 2023 10:36:27 +0100
Subject: [PATCH] Use unique_ptr

---
 backend/src/RPLidar.cpp |  9 ++++-----
 backend/src/RPLidar.h   |  4 ++--
 backend/src/main.cpp    | 26 ++++++++++++++++++++++++++
 3 files changed, 32 insertions(+), 7 deletions(-)

diff --git a/backend/src/RPLidar.cpp b/backend/src/RPLidar.cpp
index a9fefe27..6ea96d90 100644
--- a/backend/src/RPLidar.cpp
+++ b/backend/src/RPLidar.cpp
@@ -399,7 +399,7 @@ Measure _process_scan(const std::vector<uint8_t> &raw)
     return measurementData;
 }
 
-Measure _process_express_scan(std::shared_ptr<ExpressPacket> data, float newAngle, int trame)
+Measure _process_express_scan(std::unique_ptr<ExpressPacket> &data, float newAngle, int trame)
 {
     Measure measurementData;
 
@@ -461,12 +461,12 @@ std::function<Measure()> RPLidar::iter_measures(ScanType scanType, int maxBufMea
                     if (this->express_data == nullptr)
                     {
                         spdlog::debug("reading first time bytes");
-                        this->express_data = std::make_shared<ExpressPacket>(ExpressPacket(this->_read_response(dsize)));
+                        this->express_data = std::make_unique<ExpressPacket>(ExpressPacket(this->_read_response(dsize)));
                     }
 
-                    this->express_old_data = this->express_data;
+                    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_shared<ExpressPacket>(ExpressPacket(this->_read_response(dsize)));
+                    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++;
@@ -477,7 +477,6 @@ std::function<Measure()> RPLidar::iter_measures(ScanType scanType, int maxBufMea
                 Measure measure = _process_express_scan(this->express_old_data, this->express_data->start_angle, this->express_trame);
                 return measure;
             }
-            std::cout << "return null";
         }
     };
 
diff --git a/backend/src/RPLidar.h b/backend/src/RPLidar.h
index e92ec238..01c0089a 100644
--- a/backend/src/RPLidar.h
+++ b/backend/src/RPLidar.h
@@ -143,8 +143,8 @@ class RPLidar
     bool motor_running = false;
     ScanInfo scanning = {false, 0, ScanType::NORMAL};
     int express_trame = 32;
-    std::shared_ptr<ExpressPacket> express_data = nullptr;
-    std::shared_ptr<ExpressPacket> express_old_data = nullptr;
+    std::unique_ptr<ExpressPacket> express_data = nullptr;
+    std::unique_ptr<ExpressPacket> express_old_data = nullptr;
 };
 
 #endif
\ No newline at end of file
diff --git a/backend/src/main.cpp b/backend/src/main.cpp
index 1f457ad2..2ecf7872 100644
--- a/backend/src/main.cpp
+++ b/backend/src/main.cpp
@@ -7,4 +7,30 @@
 int main()
 {
     spdlog::set_level(spdlog::level::info);
+    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();
 }
\ No newline at end of file