refactor(io): unique_ptr ownership for motion sensors and I2C keyboard (#11458)

* refactor(io): unique_ptr ownership for motion sensors and I2C keyboard

- AccelerometerThread / MagnetometerThread: the owned MotionSensor
  becomes unique_ptr, removing the manual delete/null bookkeeping in
  clean(). Deletion behavior is unchanged (MotionSensor's destructor is
  virtual).

- KbI2cBase: the TCA keyboard was a reference member bound to an
  anonymous heap allocation - ownership was invisible and nothing could
  ever free it. It becomes unique_ptr with an out-of-line destructor
  (the base type is only forward-declared in the header).

- GeoCoord::pointAtDistance returned shared_ptr with no shared
  ownership anywhere (and no callers); return by value instead.

No behavior change.

* fix(io): make TCA8418KeyboardBase destructor public for unique_ptr ownership

* refactor(gps): delete dead pointAtDistance instead of converting it

Per review: zero callers in this repo or device-ui, and the math was
wrong at both ends (rangeMetersToRadians multiplies meters by 1852,
treating meters as nautical miles). Remove it, its now-unused helper,
and the <memory> include the old shared_ptr signature pulled in.

src/gps/GeoCoord.cpp

@@ -521,41 +521,6 @@ float GeoCoord::bearing(double lat1, double lon1, double lat2, double lon2)
     return atan2(y, x);
 }
 
-/**
- * Ported from http://www.edwilliams.org/avform147.htm#Intro
- * @brief Convert from meters to range in radians on a great circle
- * @param range_meters
- * The range in meters
- * @return range in radians on a great circle
- */
-float GeoCoord::rangeMetersToRadians(double range_meters)
-{
-    // 1 nm is 1852 meters
-    double distance_nm = range_meters * 1852;
-    return (PI / (180 * 60)) * distance_nm;
-}
-
-/**
- * Create a new point based on the passed-in point
- * Ported from http://www.edwilliams.org/avform147.htm#LL
- * @param bearing
- * The bearing in radians
- * @param range_meters
- * range in meters
- * @return GeoCoord object of point at bearing and range from initial point
- */
-std::shared_ptr<GeoCoord> GeoCoord::pointAtDistance(double bearing, double range_meters)
-{
-    double range_radians = rangeMetersToRadians(range_meters);
-    double lat1 = this->getLatitude() * 1e-7;
-    double lon1 = this->getLongitude() * 1e-7;
-    double lat = asin(sin(lat1) * cos(range_radians) + cos(lat1) * sin(range_radians) * cos(bearing));
-    double dlon = atan2(sin(bearing) * sin(range_radians) * cos(lat1), cos(range_radians) - sin(lat1) * sin(lat));
-    double lon = fmod(lon1 - dlon + PI, 2 * PI) - PI;
-
-    return std::make_shared<GeoCoord>(double(lat), double(lon), this->getAltitude());
-}
-
 /**
  * Convert bearing to degrees
  * @param bearing

src/gps/GeoCoord.h

@@ -4,7 +4,6 @@
 #include <cstdint>
 #include <cstring>
 #include <math.h>
-#include <memory>
 #include <stdexcept>
 #include <stdint.h>
 #include <string>
@@ -103,7 +102,6 @@ class GeoCoord
     static void convertWGS84ToOSGB36(const double lat, const double lon, double &osgb_Latitude, double &osgb_Longitude);
     static float latLongToMeter(double lat_a, double lng_a, double lat_b, double lng_b);
     static float bearing(double lat1, double lon1, double lat2, double lon2);
-    static float rangeMetersToRadians(double range_meters);
     static unsigned int bearingToDegrees(const char *bearing);
     static const char *degreesToBearing(unsigned int degrees);
 
@@ -112,9 +110,6 @@ class GeoCoord
     static double toRadians(double deg);
     static double toDegrees(double r);
 
-    // Point to point conversions
-    std::shared_ptr<GeoCoord> pointAtDistance(double bearing, double range);
-
     // Lat lon alt getters
     int32_t getLatitude() const { return _latitude; }
     int32_t getLongitude() const { return _longitude; }

src/input/TCA8418KeyboardBase.h

@@ -52,6 +52,9 @@ class TCA8418KeyboardBase
     virtual bool hasEvent(void) const;
     virtual char dequeueEvent(void);
 
+    // Public so owners (KbI2cBase's unique_ptr) can destroy through the base
+    virtual ~TCA8418KeyboardBase() {}
+
   protected:
     enum KeyState { Init, Idle, Held, Busy };
 
@@ -132,8 +135,6 @@ class TCA8418KeyboardBase
 
     virtual void queueEvent(char);
 
-    virtual ~TCA8418KeyboardBase() {}
-
   protected:
     // Set the size of the keypad matrix
     // All other rows and columns are set as inputs.

src/input/kbI2cBase.cpp

@@ -21,20 +21,22 @@ extern uint8_t kb_model;
 KbI2cBase::KbI2cBase(const char *name)
     : concurrency::OSThread(name),
 #if defined(T_DECK_PRO)
-      TCAKeyboard(*(new TDeckProKeyboard()))
+      TCAKeyboard(new TDeckProKeyboard())
 #elif defined(T_LORA_PAGER)
-      TCAKeyboard(*(new TLoraPagerKeyboard()))
+      TCAKeyboard(new TLoraPagerKeyboard())
 #elif defined(M5STACK_CARDPUTER_ADV)
-      TCAKeyboard(*(new CardputerKeyboard()))
+      TCAKeyboard(new CardputerKeyboard())
 #elif defined(HACKADAY_COMMUNICATOR)
-      TCAKeyboard(*(new HackadayCommunicatorKeyboard()))
+      TCAKeyboard(new HackadayCommunicatorKeyboard())
 #else
-      TCAKeyboard(*(new TCA8418Keyboard()))
+      TCAKeyboard(new TCA8418Keyboard())
 #endif
 {
     this->_originName = name;
 }
 
+KbI2cBase::~KbI2cBase() = default;
+
 uint8_t read_from_14004(TwoWire *i2cBus, uint8_t reg, uint8_t *data, uint8_t length)
 {
     uint8_t readflag = 0;
@@ -70,7 +72,7 @@ int32_t KbI2cBase::runOnce()
                 MPRkeyboard.begin(MPR121_KB_ADDR, i2cBus);
             }
             if (cardkb_found.address == TCA8418_KB_ADDR) {
-                TCAKeyboard.begin(TCA8418_KB_ADDR, i2cBus);
+                TCAKeyboard->begin(TCA8418_KB_ADDR, i2cBus);
             }
             break;
 #endif
@@ -85,7 +87,7 @@ int32_t KbI2cBase::runOnce()
                 MPRkeyboard.begin(MPR121_KB_ADDR, &Wire);
             }
             if (cardkb_found.address == TCA8418_KB_ADDR) {
-                TCAKeyboard.begin(TCA8418_KB_ADDR, &Wire);
+                TCAKeyboard->begin(TCA8418_KB_ADDR, &Wire);
             }
             break;
         case ScanI2C::NO_I2C:
@@ -259,10 +261,10 @@ int32_t KbI2cBase::runOnce()
         break;
     }
     case 0x84: { // Adafruit TCA8418
-        TCAKeyboard.trigger();
+        TCAKeyboard->trigger();
         InputEvent e = {};
-        while (TCAKeyboard.hasEvent()) {
-            char nextEvent = TCAKeyboard.dequeueEvent();
+        while (TCAKeyboard->hasEvent()) {
+            char nextEvent = TCAKeyboard->dequeueEvent();
             e.inputEvent = INPUT_BROKER_ANYKEY;
             e.kbchar = 0x00;
             e.source = this->_originName;
@@ -361,9 +363,9 @@ int32_t KbI2cBase::runOnce()
                 // LOG_DEBUG("TCA8418 Notifying: %i Char: %c", e.inputEvent, e.kbchar);
                 this->notifyObservers(&e);
             }
-            TCAKeyboard.trigger();
+            TCAKeyboard->trigger();
         }
-        TCAKeyboard.clearInt();
+        TCAKeyboard->clearInt();
         break;
     }
     case 0x02: {
@@ -553,6 +555,6 @@ int32_t KbI2cBase::runOnce()
 void KbI2cBase::toggleBacklight(bool on)
 {
 #if defined(T_LORA_PAGER)
-    TCAKeyboard.setBacklight(on);
+    TCAKeyboard->setBacklight(on);
 #endif
 }

src/input/kbI2cBase.h

@@ -6,12 +6,17 @@
 #include "Wire.h"
 #include "concurrency/OSThread.h"
 
+#include <memory>
+
 class TCA8418KeyboardBase;
 
 class KbI2cBase : public Observable<const InputEvent *>, public concurrency::OSThread
 {
   public:
     explicit KbI2cBase(const char *name);
+    // Out-of-line: TCA8418KeyboardBase is only forward-declared here, so the unique_ptr
+    // deleter must be instantiated in the .cpp where the type is complete
+    ~KbI2cBase();
     void toggleBacklight(bool on);
 
   protected:
@@ -24,6 +29,6 @@ class KbI2cBase : public Observable<const InputEvent *>, public concurrency::OST
 
     BBQ10Keyboard Q10keyboard;
     MPR121Keyboard MPRkeyboard;
-    TCA8418KeyboardBase &TCAKeyboard;
+    std::unique_ptr<TCA8418KeyboardBase> TCAKeyboard;
     bool is_sym = false;
 };

src/motion/AccelerometerThread.h

@@ -21,6 +21,8 @@
 #include "LSM6DS3Sensor.h"
 #include "MPU6050Sensor.h"
 #include "MotionSensor.h"
+
+#include <memory>
 #ifdef HAS_QMA6100P
 #include "QMA6100PSensor.h"
 #endif
@@ -33,7 +35,7 @@ extern ScanI2C::DeviceAddress accelerometer_found;
 class AccelerometerThread : public concurrency::OSThread
 {
   private:
-    MotionSensor *sensor = nullptr;
+    std::unique_ptr<MotionSensor> sensor;
     bool isInitialised = false;
 
   public:
@@ -93,56 +95,56 @@ class AccelerometerThread : public concurrency::OSThread
         switch (device.type) {
 #ifdef HAS_BMA423
         case ScanI2C::DeviceType::BMA423:
-            sensor = new BMA423Sensor(device);
+            sensor.reset(new BMA423Sensor(device));
             break;
 #endif
 #if __has_include(<Adafruit_MPU6050.h>)
         case ScanI2C::DeviceType::MPU6050:
-            sensor = new MPU6050Sensor(device);
+            sensor.reset(new MPU6050Sensor(device));
             break;
 #endif
         case ScanI2C::DeviceType::BMX160:
-            sensor = new BMX160Sensor(device);
+            sensor.reset(new BMX160Sensor(device));
             break;
 #if __has_include(<Adafruit_LIS3DH.h>)
         case ScanI2C::DeviceType::LIS3DH:
         case ScanI2C::DeviceType::SC7A20:
-            sensor = new LIS3DHSensor(device);
+            sensor.reset(new LIS3DHSensor(device));
             break;
 #endif
 #if __has_include(<Adafruit_LSM6DS3TRC.h>)
         case ScanI2C::DeviceType::LSM6DS3:
-            sensor = new LSM6DS3Sensor(device);
+            sensor.reset(new LSM6DS3Sensor(device));
             break;
 #endif
 #ifdef HAS_STK8XXX
         case ScanI2C::DeviceType::STK8BAXX:
-            sensor = new STK8XXXSensor(device);
+            sensor.reset(new STK8XXXSensor(device));
             break;
 #endif
 #if __has_include(<ICM_20948.h>)
         case ScanI2C::DeviceType::ICM20948:
-            sensor = new ICM20948Sensor(device);
+            sensor.reset(new ICM20948Sensor(device));
             break;
 #endif
 #if __has_include(<ICM42670P.h>)
         case ScanI2C::DeviceType::ICM42607P:
-            sensor = new ICM42607PSensor(device);
+            sensor.reset(new ICM42607PSensor(device));
             break;
 #endif
 #if __has_include(<DFRobot_BMM150.h>)
         case ScanI2C::DeviceType::BMM150:
-            sensor = new BMM150Sensor(device);
+            sensor.reset(new BMM150Sensor(device));
             break;
 #endif
 #ifdef HAS_BMI270
         case ScanI2C::DeviceType::BMI270:
-            sensor = new BMI270Sensor(device);
+            sensor.reset(new BMI270Sensor(device));
             break;
 #endif
 #ifdef HAS_QMA6100P
         case ScanI2C::DeviceType::QMA6100P:
-            sensor = new QMA6100PSensor(device);
+            sensor.reset(new QMA6100PSensor(device));
             break;
 #endif
         default:
@@ -185,8 +187,7 @@ class AccelerometerThread : public concurrency::OSThread
     void clean()
     {
         isInitialised = false;
-        delete sensor;
-        sensor = nullptr;
+        sensor.reset();
     }
 };
 

src/motion/MagnetometerThread.h

@@ -10,12 +10,14 @@
 #include "MMC5983MASensor.h"
 #include "MotionSensor.h"
 
+#include <memory>
+
 extern ScanI2C::DeviceAddress magnetometer_found;
 
 class MagnetometerThread : public concurrency::OSThread
 {
   private:
-    MotionSensor *sensor = nullptr;
+    std::unique_ptr<MotionSensor> sensor;
     ScanI2C::FoundDevice device;
     bool isInitialised = false;
 
@@ -69,7 +71,7 @@ class MagnetometerThread : public concurrency::OSThread
         switch (device.type) {
 #if __has_include(<SparkFun_MMC5983MA_Arduino_Library.h>)
         case ScanI2C::DeviceType::MMC5983MA:
-            sensor = new MMC5983MASensor(device);
+            sensor.reset(new MMC5983MASensor(device));
             break;
 #endif
         default:
@@ -106,8 +108,7 @@ class MagnetometerThread : public concurrency::OSThread
     void clean()
     {
         isInitialised = false;
-        delete sensor;
-        sensor = nullptr;
+        sensor.reset();
     }
 };