fix: prevent invalid UniquePtr usage

5 files changed, 39 insertions, 56 deletions

diff --git a/src/gyronardo.cpp b/src/gyronardo.cpp
index 148a21b..63b4bfc 100644
--- a/src/gyronardo.cpp
+++ b/src/gyronardo.cpp
@@ -16,17 +16,14 @@ constexpr unsigned int BAUD_RATE = 9600U;
 constexpr unsigned int SENSOR_RETRY_TIME = 2000U;
 
 SerialStream sout(Serial_(), BAUD_RATE);
-// SerialStream sout(Serial, BAUD_RATE);
 
-UniquePtr<Sensor> sensor;
+auto sensor = Sensor(SENSOR_ADDRESS, Wire, sout, SENSOR_THROTTLE_TIME);
 
 void setup()
 {
 	sout.waitReady();
 
-	sensor = make_unique<Sensor>(SENSOR_ADDRESS, Wire, sout, SENSOR_THROTTLE_TIME);
-
-	while (!sensor->begin())
+	while (!sensor.begin())
 	{
 		sout << "Error: Could not connect to the sensor. Retrying after 2000 "
 				"milliseconds..."
@@ -35,18 +32,18 @@ void setup()
 		delay(SENSOR_RETRY_TIME);
 	}
 
-	if (!sensor->setAccelSensitivity(2)) // 8g
+	if (!sensor.setAccelSensitivity(2)) // 8g
 	{
 		sout << "Error: Failed to set the sensor's accelerometer sensitivity. Status: "
-			 << static_cast<int>(sensor->getStatus()) << endl;
+			 << static_cast<int>(sensor.getStatus()) << endl;
 
 		stop();
 	}
 
-	if (!sensor->setGyroSensitivity(1)) // 500 degrees/s
+	if (!sensor.setGyroSensitivity(1)) // 500 degrees/s
 	{
 		sout << "Error: Failed to set the sensor's gyro sensitivity. Status: "
-			 << static_cast<int>(sensor->getStatus()) << endl;
+			 << static_cast<int>(sensor.getStatus()) << endl;
 
 		stop();
 	}
@@ -66,17 +63,17 @@ void setup()
 	sout << "Finished calibrating sensor\n";
 
 	sout << "Calibration values:\n"
-		 << "Accelerometer X: " << sensor->accel_cal_x << "\n"
-		 << "Accelerometer Y: " << sensor->accel_cal_y << "\n"
-		 << "Accelerometer Z: " << sensor->accel_cal_z << "\n"
-		 << "Gyro X: " << sensor->gyro_cal_x << "\n"
-		 << "Gyro Y: " << sensor->gyro_cal_y << "\n"
-		 << "Gyro Z: " << sensor->gyro_cal_z << "\n";
+		 << "Accelerometer X: " << sensor.accel_cal_x << "\n"
+		 << "Accelerometer Y: " << sensor.accel_cal_y << "\n"
+		 << "Accelerometer Z: " << sensor.accel_cal_z << "\n"
+		 << "Gyro X: " << sensor.gyro_cal_x << "\n"
+		 << "Gyro Y: " << sensor.gyro_cal_y << "\n"
+		 << "Gyro Z: " << sensor.gyro_cal_z << "\n";
 
 	sout << "Starting..." << endl;
 
-	sout << "Pitch: " << sensor->getPitch() << "  "
-		 << "Roll: " << sensor->getRoll() << endl;
+	sout << "Pitch: " << sensor.getPitch() << "  "
+		 << "Roll: " << sensor.getRoll() << endl;
 }
 
 void loop()
diff --git a/src/sensor/calibration.cpp b/src/sensor/calibration.cpp
index 1538baa..42f5010 100644
--- a/src/sensor/calibration.cpp
+++ b/src/sensor/calibration.cpp
@@ -3,7 +3,7 @@
 #include "std/time.hpp"
 #include "utils.hpp"
 
-SensorCalibrator::SensorCalibrator(UniquePtr<Sensor> sensor, SerialStream sout)
+SensorCalibrator::SensorCalibrator(Sensor sensor, SerialStream sout)
 	: _sensor(sensor), _sout(sout)
 {
 }
@@ -51,26 +51,26 @@ bool SensorCalibrator::calibrate(unsigned int throttle_time)
 
 void SensorCalibrator::_updateValues(SensorCalibratorValues &values)
 {
-	_sensor->read();
+	_sensor.read();
 
-	values.accel_x -= _sensor->getAccelX();
-	values.accel_y -= _sensor->getAccelY();
-	values.accel_z -= _sensor->getAccelZ();
+	values.accel_x -= _sensor.getAccelX();
+	values.accel_y -= _sensor.getAccelY();
+	values.accel_z -= _sensor.getAccelZ();
 
-	values.gyro_x -= _sensor->getGyroX();
-	values.gyro_y -= _sensor->getGyroY();
-	values.gyro_z -= _sensor->getGyroZ();
+	values.gyro_x -= _sensor.getGyroX();
+	values.gyro_y -= _sensor.getGyroY();
+	values.gyro_z -= _sensor.getGyroZ();
 }
 
 void SensorCalibrator::_adjustCalibrationWithValues(const SensorCalibratorValues &values)
 {
-	_sensor->accel_cal_x += values.accel_x;
-	_sensor->accel_cal_y += values.accel_y;
-	_sensor->accel_cal_z += values.accel_z;
+	_sensor.accel_cal_x += values.accel_x;
+	_sensor.accel_cal_y += values.accel_y;
+	_sensor.accel_cal_z += values.accel_z;
 
-	_sensor->gyro_cal_x += values.gyro_x;
-	_sensor->gyro_cal_y += values.gyro_y;
-	_sensor->gyro_cal_z += values.gyro_z;
+	_sensor.gyro_cal_x += values.gyro_x;
+	_sensor.gyro_cal_y += values.gyro_y;
+	_sensor.gyro_cal_z += values.gyro_z;
 }
 
 void SensorCalibrator::_adjustValues(SensorCalibratorValues &values)
diff --git a/src/sensor/calibration.hpp b/src/sensor/calibration.hpp
index a2da58b..090fd27 100644
--- a/src/sensor/calibration.hpp
+++ b/src/sensor/calibration.hpp
@@ -2,7 +2,6 @@
 
 #include "sensor/sensor.hpp"
 #include "serial.hpp"
-#include "std/memory.hpp"
 
 // Calibration precision
 constexpr float ACCEL_CAL_X_MAX = 0.006;
@@ -52,7 +51,7 @@ public:
 	 * @param sensor A sensor to calibrate
 	 * @param sout A Serial output stream
 	 */
-	SensorCalibrator(UniquePtr<Sensor> sensor, SerialStream sout);
+	SensorCalibrator(Sensor sensor, SerialStream sout);
 
 	/**
 	 * Calibrates the sensor.
@@ -70,7 +69,7 @@ private:
 	static void _adjustValues(SensorCalibratorValues &values);
 	static bool _isValuesInRange(const SensorCalibratorValues &values);
 
-	UniquePtr<Sensor> _sensor;
+	Sensor _sensor;
 
 	SerialStream _sout;
 };
diff --git a/src/std/memory.hpp b/src/std/memory.hpp
index 0c5719c..d1ca762 100644
--- a/src/std/memory.hpp
+++ b/src/std/memory.hpp
@@ -11,13 +11,19 @@ class UniquePtr
 public:
 	explicit UniquePtr() = default;
 	explicit UniquePtr(Target *target);
-	UniquePtr(const UniquePtr &unique_ptr);
-	UniquePtr(UniquePtr &&unique_ptr) noexcept;
 
-	UniquePtr &operator=(const UniquePtr &unique_ptr);
+	// Move constructor
+	UniquePtr(UniquePtr &&unique_ptr) noexcept;
 
+	// Move assignment operator
 	UniquePtr &operator=(UniquePtr &&unique_ptr) noexcept;
 
+	// Disable the copy constructor
+	UniquePtr(const UniquePtr &unique_ptr) = delete;
+
+	// Disable the copy assignment operator
+	UniquePtr &operator=(const UniquePtr &unique_ptr) = delete;
+
 	~UniquePtr();
 
 	Target operator*() const;
diff --git a/src/std/memory.tpp b/src/std/memory.tpp
index fdfe72b..b2f39bf 100644
--- a/src/std/memory.tpp
+++ b/src/std/memory.tpp
@@ -27,12 +27,6 @@ UniquePtr<Target>::UniquePtr(Target *target) : _target(target)
 }
 
 template <class Target>
-UniquePtr<Target>::UniquePtr(const UniquePtr &unique_ptr)
-	: _target(new Target(*(unique_ptr._target)))
-{
-}
-
-template <class Target>
 UniquePtr<Target>::UniquePtr(UniquePtr &&unique_ptr) noexcept
 	: _target(unique_ptr._target)
 {
@@ -40,19 +34,6 @@ UniquePtr<Target>::UniquePtr(UniquePtr &&unique_ptr) noexcept
 }
 
 template <class Target>
-UniquePtr<Target> &UniquePtr<Target>::operator=(const UniquePtr &unique_ptr)
-{
-	if (&unique_ptr != this)
-	{
-		delete _target;
-		_target = nullptr;
-		_target = new Target(*(unique_ptr._target));
-	}
-
-	return *this;
-}
-
-template <class Target>
 UniquePtr<Target> &UniquePtr<Target>::operator=(UniquePtr &&unique_ptr) noexcept
 {
 	if (&unique_ptr != this)