Use smart pointers for detector/tracker

src/blah2.cpp

@@ -32,6 +32,7 @@
 #include <sys/time.h>
 #include <signal.h>
 #include <atomic>
+#include <memory>
 #include <iostream>
 
 Capture *CAPTURE_POINTER = NULL;
@@ -102,10 +103,10 @@ int main(int argc, char **argv)
   IqData *x = new IqData(nSamples);
   IqData *y = new IqData(nSamples);
   Map<std::complex<double>> *map;
-  Detection *detection;
+  std::unique_ptr<Detection> detection;
-  Detection *detection1;
+  std::unique_ptr<Detection> detection1;
-  Detection *detection2;
+  std::unique_ptr<Detection> detection2;
-  Track *track;
+  std::unique_ptr<Track> track;
 
   // setup fftw multithread
   if (fftw_init_threads() == 0)
@@ -265,15 +266,15 @@ int main(int argc, char **argv)
           if (isDetection)
           {
             detection1 = cfarDetector1D->process(map);
-            detection2 = centroid->process(detection1);
+            detection2 = centroid->process(detection1.get());
-            detection = interpolate->process(detection2, map);
+            detection = interpolate->process(detection2.get(), map);
             timing_helper(timing_name, timing_time, time, "detector");
           }
 
           // tracker process
           if (isTracker)
           {
-            track = tracker->process(detection, time[0]/1000);
+            track = tracker->process(detection.get(), time[0]/1000);
             timing_helper(timing_name, timing_time, time, "tracker");
           }
 
@@ -296,9 +297,6 @@ int main(int argc, char **argv)
             detectionJson = detection->to_json(time[0]/1000);
             detectionJson = detection->delay_bin_to_km(detectionJson, fs);
             socket_detection.sendData(detectionJson);
-            delete detection;
-            delete detection1;
-            delete detection2;
           }
 
           // output tracker data

src/process/detection/Centroid.cpp

@@ -16,7 +16,7 @@ Centroid::~Centroid()
 {
 }
 
-Detection *Centroid::process(Detection *x)
+std::unique_ptr<Detection> Centroid::process(Detection *x)
 { 
   // store detections temporarily
   std::vector<double> delay, doppler, snr;
@@ -69,7 +69,5 @@ Detection *Centroid::process(Detection *x)
   }
 
   // create detection
-  Detection *detection = new Detection(delay2, doppler2, snr2);
+  return std::make_unique<Detection>(delay2, doppler2, snr2);
-
-  return detection;
 }

src/process/detection/Centroid.h

@@ -9,6 +9,7 @@
 
 #include "data/Detection.h"
 #include <stdint.h>
+#include <memory>
 
 class Centroid
 {
@@ -40,7 +41,7 @@ public:
   /// @brief Implement the 1D CFAR detector.
   /// @param x Detections from the 1D CFAR detector.
   /// @return Centroided detections.
-  Detection *process(Detection *x);
+  std::unique_ptr<Detection> process(Detection *x);
 };
 
 #endif

src/process/detection/CfarDetector1D.cpp

@@ -20,7 +20,7 @@ CfarDetector1D::~CfarDetector1D()
 {
 }
 
-Detection *CfarDetector1D::process(Map<std::complex<double>> *x)
+std::unique_ptr<Detection> CfarDetector1D::process(Map<std::complex<double>> *x)
 { 
   int32_t nDelayBins = x->get_nCols();
   int32_t nDopplerBins = x->get_nRows();
@@ -96,7 +96,5 @@ Detection *CfarDetector1D::process(Map<std::complex<double>> *x)
   }
 
   // create detection
-  Detection *detection = new Detection(delay, doppler, snr);
+  return std::make_unique<Detection>(delay, doppler, snr);
-
-  return detection;
 }

src/process/detection/CfarDetector1D.h

@@ -12,6 +12,7 @@
 #include "data/Detection.h"
 #include <stdint.h>
 #include <complex>
+#include <memory>
 
 class CfarDetector1D
 {
@@ -51,7 +52,7 @@ public:
   /// @brief Implement the 1D CFAR detector.
   /// @param x Ambiguity map data of IQ samples.
   /// @return Detections from the 1D CFAR detector.
-  Detection *process(Map<std::complex<double>> *x);
+  std::unique_ptr<Detection> process(Map<std::complex<double>> *x);
 };
 
 #endif

src/process/detection/Interpolate.cpp

@@ -17,7 +17,7 @@ Interpolate::~Interpolate()
 {
 }
 
-Detection *Interpolate::process(Detection *x, Map<std::complex<double>> *y)
+std::unique_ptr<Detection> Interpolate::process(Detection *x, Map<std::complex<double>> *y)
 { 
   // store detections temporarily
   std::vector<double> delay, doppler, snr;
@@ -87,7 +87,5 @@ Detection *Interpolate::process(Detection *x, Map<std::complex<double>> *y)
   }
 
   // create detection
-  Detection *detection = new Detection(delay2, doppler2, snr2);
+  return std::make_unique<Detection>(delay2, doppler2, snr2);
-
-  return detection;
 }

src/process/detection/Interpolate.h

@@ -14,6 +14,8 @@
 #include "data/Map.h"
 #include "data/Detection.h"
 
+#include <memory>
+
 class Interpolate
 {
 private:
@@ -40,7 +42,7 @@ public:
   /// @brief Implement the 1D CFAR detector.
   /// @param x Detections from the 1D CFAR detector.
   /// @return Interpolated detections.
-  Detection *process(Detection *x, Map<std::complex<double>> *y);
+  std::unique_ptr<Detection> process(Detection *x, Map<std::complex<double>> *y);
 };
 
 #endif

src/process/tracker/Tracker.cpp

@@ -28,7 +28,7 @@ Tracker::~Tracker()
 {
 }
 
-Track *Tracker::process(Detection *detection, uint64_t currentTime)
+std::unique_ptr<Track> Tracker::process(Detection *detection, uint64_t currentTime)
 {
   doNotInitiate.clear();
   for (size_t i = 0; i < detection->get_nDetections(); i++)
@@ -46,7 +46,7 @@ Track *Tracker::process(Detection *detection, uint64_t currentTime)
   }
   initiate(detection);
 
-  return &track;
+  return std::make_unique<Track>(track);
 }
 
 void Tracker::update(Detection *detection, uint64_t current)

src/process/tracker/Tracker.h

@@ -13,7 +13,9 @@
 
 #include "data/Detection.h"
 #include "data/Track.h"
+
 #include <stdint.h>
+#include <memory>
 
 class Tracker
 {
@@ -72,7 +74,7 @@ public:
   /// @param detection Detection data for last CPI.
   /// @param timestamp POSIX timestamp (ms).
   /// @return Pointer to track data.
-  Track *process(Detection *detection, uint64_t timestamp);
+  std::unique_ptr<Track> process(Detection *detection, uint64_t timestamp);
 
   /// @brief Update tracks by associating detections.
   /// @param detection Detection data for last CPI.