Refactor: Update HAL to use std::unique_ptr and ROS2 naming conventions

exercises/vacuum_cleaner/cpp_template/HAL.hpp

@@ -1,30 +1,34 @@
 #ifndef INCLUDE_HAL_HPP_
 #define INCLUDE_HAL_HPP_
 
+#include <vector>
+#include <memory>
+#include <chrono>
+
 #include "geometry_msgs/msg/twist.hpp"
 #include "gazebo_msgs/msg/contacts_state.hpp"
 #include "sensor_msgs/msg/laser_scan.hpp"
 #include "rclcpp/rclcpp.hpp"
 
-
+// Use specific namespaces to avoid pollution
 using namespace std::chrono_literals; // NOLINT
-using namespace std;                  // NOLINT
 using std::placeholders::_1;
 
 class LaserData
 {
 public:
-  vector<float> values;
-  float minAngle = 0;
-  float maxAngle = 0;
-  float minRange = 0;
-  float maxRange = 0;
-  float timeStamp = 0;
-
-  LaserData(vector<float> range, float angle_min, float angle_max, float range_max, float range_min)
+  std::vector<float> values;
+  float min_angle_ = 0; 
+  float max_angle_ = 0;
+  float min_range_ = 0;
+  float max_range_ = 0;
+  float time_stamp_ = 0;
+
+  LaserData(const std::vector<float>& range, float angle_min, float angle_max, float range_max, float range_min)
   {
     values = range;
-    /*
+    // Map ROS angles to JdeRobot coordinate system
+        /*
           ROS Angle Map      JdeRobot Angle Map
                 0                  PI/2
                 |                   |
@@ -33,102 +37,113 @@ class LaserData
                 |                   |
                 |                   |
      */
-    minAngle = angle_min + 3.14 / 2;
-    maxAngle = angle_max + 3.14 / 2;
-    minRange = range_max;
-    maxRange = range_min;
+    min_angle_ = angle_min + 3.14 / 2;
+    max_angle_ = angle_max + 3.14 / 2;
+    min_range_ = range_max;
+    max_range_ = range_min;
   }
-
-private:
 };
 
 class HAL : public rclcpp::Node
 {
 public:
   HAL() : Node("hal_node")
   {
-    vel_pub_ = create_publisher<geometry_msgs::msg::Twist>("/cmd_vel", 10);
-    scan_sub_ = create_subscription<sensor_msgs::msg::LaserScan>(
+    // Initialize Publishers and Subscribers
+    vel_pub_ = this->create_publisher<geometry_msgs::msg::Twist>("/cmd_vel", 10);
+
+    scan_sub_ = this->create_subscription<sensor_msgs::msg::LaserScan>(
         "/roombaROS/laser/scan", 10,
         std::bind(&HAL::scan_callback, this, _1));
-    r_bumper_sub_ = create_subscription<gazebo_msgs::msg::ContactsState>(
+
+    r_bumper_sub_ = this->create_subscription<gazebo_msgs::msg::ContactsState>(
         "/roombaROS/events/right_bumper", 10,
         std::bind(&HAL::right_bumper_callback, this, _1));
-    c_bumper_sub_ = create_subscription<gazebo_msgs::msg::ContactsState>(
+
+    c_bumper_sub_ = this->create_subscription<gazebo_msgs::msg::ContactsState>(
         "/roombaROS/events/center_bumper", 10,
         std::bind(&HAL::center_bumper_callback, this, _1));
-    l_bumper_sub_ = create_subscription<gazebo_msgs::msg::ContactsState>(
+
+    l_bumper_sub_ = this->create_subscription<gazebo_msgs::msg::ContactsState>(
         "/roombaROS/events/left_bumper", 10,
         std::bind(&HAL::left_bumper_callback, this, _1));
-  };
+  }
 
+  // Set linear velocity
   static void set_v(const float speed)
   {
-    last_twist.linear.x = speed;
-    vel_pub_->publish(last_twist);
-  };
+    last_twist_.linear.x = speed;
+    vel_pub_->publish(last_twist_);
+  }
 
+  // Set angular velocity
   static void set_w(const float speed)
   {
-    last_twist.angular.z = speed;
-    vel_pub_->publish(last_twist);
-  };
+    last_twist_.angular.z = speed;
+    vel_pub_->publish(last_twist_);
+  }
 
-  static const LaserData *get_laser_data()
+  // Safe memory management using Smart Pointers to prevent leaks
+  static std::unique_ptr<LaserData> get_laser_data()
   {
-    // int n = sizeof(last_scan_->ranges) / sizeof(last_scan_->ranges[0]);
-    // vector<float> range(last_scan_->ranges, last_scan_->ranges + n);
-    const LaserData *laser = new LaserData(last_scan_.ranges, last_scan_.angle_min, last_scan_.angle_max, last_scan_.range_max, last_scan_.range_min);
-    return laser;
-  };
+    return std::make_unique<LaserData>(
+      last_scan_.ranges, 
+      last_scan_.angle_min, 
+      last_scan_.angle_max, 
+      last_scan_.range_max, 
+      last_scan_.range_min
+    );
+  }
 
-  static vector<bool> get_bumper_data()
+  // Returns current bumper states
+  static std::vector<bool> get_bumper_data()
   {
-    vector<bool> v = {last_rigth_bumper, last_center_bumper, last_left_bumper};
-    return v;
-  };
+    return {last_right_bumper_, last_center_bumper_, last_left_bumper_};
+  }
 
 private:
-  void scan_callback(sensor_msgs::msg::LaserScan::UniquePtr msg)
+  // Optimization: Pass by const reference to avoid unnecessary copying
+  void scan_callback(const sensor_msgs::msg::LaserScan::SharedPtr msg)
   {
     last_scan_ = *msg;
   }
 
-  void right_bumper_callback(gazebo_msgs::msg::ContactsState::UniquePtr msg)
+  void right_bumper_callback(const gazebo_msgs::msg::ContactsState::SharedPtr msg)
   {
-    last_rigth_bumper = size(msg->states) > 0;
-  };
+    last_right_bumper_ = !msg->states.empty();
+  }
 
-  void center_bumper_callback(gazebo_msgs::msg::ContactsState::UniquePtr msg)
+  void center_bumper_callback(const gazebo_msgs::msg::ContactsState::SharedPtr msg)
   {
-    last_center_bumper = size(msg->states) > 0;
-  };
+    last_center_bumper_ = !msg->states.empty();
+  }
 
-  void left_bumper_callback(gazebo_msgs::msg::ContactsState::UniquePtr msg)
+  void left_bumper_callback(const gazebo_msgs::msg::ContactsState::SharedPtr msg)
   {
-    last_left_bumper = size(msg->states) > 0;
-  };
+    last_left_bumper_ = !msg->states.empty();
+  }
 
-  // Publisher
+  // ROS 2 Communication Objects
   static rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr vel_pub_;
   rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr scan_sub_;
   rclcpp::Subscription<gazebo_msgs::msg::ContactsState>::SharedPtr r_bumper_sub_;
   rclcpp::Subscription<gazebo_msgs::msg::ContactsState>::SharedPtr c_bumper_sub_;
   rclcpp::Subscription<gazebo_msgs::msg::ContactsState>::SharedPtr l_bumper_sub_;
 
-  // Message
-  static geometry_msgs::msg::Twist last_twist;
+  // Member Variables - Following Google/ROS2 Naming Conventions
+  static geometry_msgs::msg::Twist last_twist_;
   static sensor_msgs::msg::LaserScan last_scan_;
-  static bool last_rigth_bumper;
-  static bool last_center_bumper;
-  static bool last_left_bumper;
+  static bool last_right_bumper_;
+  static bool last_center_bumper_;
+  static bool last_left_bumper_;
 };
 
+// Static Members Initialization
 rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr HAL::vel_pub_ = nullptr;
-geometry_msgs::msg::Twist HAL::last_twist = geometry_msgs::msg::Twist();
+geometry_msgs::msg::Twist HAL::last_twist_ = geometry_msgs::msg::Twist();
 sensor_msgs::msg::LaserScan HAL::last_scan_ = sensor_msgs::msg::LaserScan();
-bool HAL::last_rigth_bumper = false;
-bool HAL::last_center_bumper = false;
-bool HAL::last_left_bumper = false;
+bool HAL::last_right_bumper_ = false;
+bool HAL::last_center_bumper_ = false;
+bool HAL::last_left_bumper_ = false;
 
-#endif
+#endif  // INCLUDE_HAL_HPP_