Issue #29. FIxed code style and class destructor check

Author: taketook34

src/kpi_rover_ecu/include/IClient.h

@@ -14,7 +14,7 @@ class IClient {
     virtual bool Receive(std::vector<std::uint8_t>& data) = 0;
     virtual int Init(std::string ip_address, int port) = 0;
     virtual void Destroy() = 0;
-    // virtual ~IClient() = default;
+    virtual ~IClient() = default;
 
     IClient(const IClient&) = delete;
     IClient& operator=(const IClient&) = delete;

src/kpi_rover_ecu/include/ITransport.h

@@ -14,7 +14,7 @@ class ITransport {
     virtual int Init() = 0;
     virtual void Start() = 0;
     virtual void Destroy() = 0;
-    // virtual ~ITransport() = default;
+    virtual ~ITransport() = default;
 
     ITransport(const ITransport&) = delete;
     ITransport& operator=(const ITransport&) = delete;

src/kpi_rover_ecu/include/TCPTransport.h

@@ -22,7 +22,7 @@ class TCPTransport : public ITransport {
     TCPTransport& operator=(const TCPTransport&) = delete;
     TCPTransport(TCPTransport&&) = delete;
     TCPTransport& operator=(TCPTransport&&) = delete;
-    // ~TCPTransport() override;
+    ~TCPTransport() override;
 
     bool Send(const std::vector<std::uint8_t>& data) override;
     bool Receive(std::vector<std::uint8_t>& data) override;

src/kpi_rover_ecu/include/UDPClient.h

@@ -23,7 +23,7 @@ class UDPClient : public IClient {
     bool Send(const std::vector<std::uint8_t>& data) override;
     bool Receive(std::vector<std::uint8_t>& data) override;
     void Destroy() override;
-    // ~UDPClient() override;
+    ~UDPClient() override;
 
    private:
     int sockfd_;

src/kpi_rover_ecu/src/KPIRoverECU.cpp

@@ -31,7 +31,7 @@ bool KPIRoverECU::Start() {
     processingThread_ = std::thread([this] { ProcessingThreadFunction(); });
     imuThread_ = std::thread([this] { IMUThreadFucntion(this->imu_controller_); });
 
-    if (!timerThread_.joinable() || !processingThread_.joinable() || !imuThread_.joinable() ) {
+    if (!timerThread_.joinable() || !processingThread_.joinable() || !imuThread_.joinable()) {
         std::cout << "Error creating thread" << '\n';
         return false;
     }
@@ -49,7 +49,9 @@ void KPIRoverECU::IMUThreadFucntion(IMUController *workClass) {
         if (destination_address.empty()) {
             destination_address = tcp_transport_->GetClientIp();
             destination_port = tcp_transport_->GetClientPort();
-            if (!destination_address.empty()) { udp_client_->Init(destination_address, destination_port); }
+            if (!destination_address.empty()) {
+                udp_client_->Init(destination_address, destination_port);
+            }
 
         } else {
             const std::vector<float> kImuData = workClass->GetData();
@@ -82,7 +84,6 @@ void KPIRoverECU::IMUThreadFucntion(IMUController *workClass) {
                     }
                 }
                 udp_client_->Send(send_val);
-                
             }
         }
         rc_usleep(kTimerPrecision);

src/kpi_rover_ecu/src/TCPTransport.cpp

@@ -26,16 +26,16 @@ TCPTransport::TCPTransport(const char *ip_address, int port)
     strncpy(server_address_, ip_address, strlen(ip_address) + 1);
 }
 
-// TCPTransport::~TCPTransport() {
-//     running_ = false;
-//     shutdown(sockfd_, SHUT_RDWR);
-//     std::cout << "joining thread ... " << '\n';
-//     acceptThread_.join();
-//     std::cout << "closing socket" << '\n';
-//     close(client_sockfd_);
-//     close(sockfd_);
-//     delete[] server_address_;
-// }
+TCPTransport::~TCPTransport() {
+    running_ = false;
+    shutdown(sockfd_, SHUT_RDWR);
+    std::cout << "joining thread ... " << '\n';
+    acceptThread_.join();
+    std::cout << "closing socket" << '\n';
+    close(client_sockfd_);
+    close(sockfd_);
+    delete[] server_address_;
+}
 
 int TCPTransport::Init() {
     struct sockaddr_in serv_addr = {};

src/kpi_rover_ecu/src/UDPClient.cpp

@@ -54,8 +54,9 @@ void UDPClient::Destroy() {
     std::cout << "joining udp client socket ..." << '\n';
 }
 
-// UDPClient::~UDPClient() {
-//     shutdown(sockfd_, SHUT_WR);
+UDPClient::~UDPClient() {
+    shutdown(sockfd_, SHUT_WR);
 
-//     close(sockfd_);
-// }
+    close(sockfd_);
+    std::cout << "joining udp client socket ..." << '\n';
+}

src/kpi_rover_ecu/src/main.cpp

@@ -109,8 +109,6 @@ int main(int argc, char* argv[]) {
 
     kpi_rover_ecu.Stop();
     motors_processor.Destroy();
-    tcp_transport.Destroy();
-    udp_client.Destroy();
 
     return 0;
 }