From ffc3ee511bc2b30799a06ad20ad3c9d10c1054a7 Mon Sep 17 00:00:00 2001
From: Giulio Romualdi <giulio.romualdi@gmail.com>
Date: Tue, 5 May 2026 16:20:57 +0200
Subject: [PATCH 1/3] Implement the BufferManager::clear() method

---
 .../include/robometry/BufferManager.h         |  6 +++++
 src/librobometry/src/BufferManager.cpp        | 23 +++++++++++++++++++
 2 files changed, 29 insertions(+)

diff --git a/src/librobometry/include/robometry/BufferManager.h b/src/librobometry/include/robometry/BufferManager.h
index 2706367..1843a99 100644
--- a/src/librobometry/include/robometry/BufferManager.h
+++ b/src/librobometry/include/robometry/BufferManager.h
@@ -290,6 +290,12 @@ class BufferManager {
      */
     bool configure(const BufferConfig& _bufferConfig);
 
+    /**
+     * @brief Clear all channels and data from the BufferManager, stopping the periodic save thread.
+     * After calling this, the BufferManager must be reconfigured before use.
+     */
+    void clear();
+
     /**
      * @brief Get the BufferConfig object representing the actual configuration.
      *
diff --git a/src/librobometry/src/BufferManager.cpp b/src/librobometry/src/BufferManager.cpp
index 069c25a..c4e0131 100644
--- a/src/librobometry/src/BufferManager.cpp
+++ b/src/librobometry/src/BufferManager.cpp
@@ -84,6 +84,29 @@ bool robometry::BufferManager::configure(const BufferConfig &_bufferConfig) {
     return ok;
 }
 
+void robometry::BufferManager::clear() {
+    // Stop the periodic save thread if running
+    if (m_save_thread.joinable()) {
+        {
+            std::unique_lock<std::mutex> lk_cv(m_mutex_cv);
+            m_should_stop_thread = true;
+            m_cv.notify_one();
+        }
+        m_save_thread.join();
+    }
+    m_should_stop_thread = false;
+
+    // Reset the tree to clear all channels
+    m_tree = std::make_shared<TreeNode<BufferInfo>>();
+
+    // Clear channel list from config
+    m_bufferConfig.channels.clear();
+
+    // Reset callbacks
+    m_saveCallback = {};
+    m_preSaveCallback = {};
+}
+
 robometry::BufferConfig robometry::BufferManager::getBufferConfig() const {
     return m_bufferConfig;
 }

From f6d4b98c4025ca0e78583ffeb2b20d3759ffc0a9 Mon Sep 17 00:00:00 2001
From: Giulio Romualdi <giulio.romualdi@gmail.com>
Date: Wed, 6 May 2026 09:18:38 +0200
Subject: [PATCH 2/3] Bump project version to 1.4.0

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 92c29c0..ad452aa 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,7 +6,7 @@
 
 cmake_minimum_required(VERSION 3.16)
 project(robometry LANGUAGES C CXX
-                  VERSION 1.3.0)
+                  VERSION 1.4.0)
 
 include(GNUInstallDirs)
 include(FeatureSummary)

From a25beaee1918e0fcd1279bb7855af317ec06bc49 Mon Sep 17 00:00:00 2001
From: Giulio Romualdi <giulio.romualdi@gmail.com>
Date: Wed, 6 May 2026 10:01:02 +0200
Subject: [PATCH 3/3] Add test

---
 test/BufferManagerTest.cpp | 34 ++++++++++++++++++++++++++++++++++
 1 file changed, 34 insertions(+)

diff --git a/test/BufferManagerTest.cpp b/test/BufferManagerTest.cpp
index d8ecd7c..c27be38 100644
--- a/test/BufferManagerTest.cpp
+++ b/test/BufferManagerTest.cpp
@@ -504,6 +504,40 @@ TEST_CASE("Buffer Manager Test")
 
     }
 
+    SECTION("Test clear") {
+        robometry::BufferManager bm;
+        robometry::BufferConfig bufferConfig;
+
+        robometry::ChannelInfo var_one{ "one", {1,1} };
+        robometry::ChannelInfo var_two{ "two", {1,1} };
+
+        // Add channels
+        REQUIRE(bm.addChannel(var_one));
+        REQUIRE(bm.addChannel(var_two));
+
+        bufferConfig.filename = "buffer_manager_test_clear";
+        bufferConfig.n_samples = n_samples;
+        REQUIRE(bm.configure(bufferConfig));
+
+        // Add some data
+        for (int i = 0; i < 3; i++) {
+            bm.push_back({ i }, "one");
+            std::this_thread::sleep_for(std::chrono::milliseconds(10));
+            bm.push_back({ i + 1 }, "two");
+        }
+
+        // Clear the buffer manager
+        bm.clear();
+
+        // Verify channels were cleared - the config should be empty
+        auto config_after = bm.getBufferConfig();
+        REQUIRE(config_after.channels.empty());
+
+        // Verify we can reconfigure after clear
+        bufferConfig.filename = "buffer_manager_test_clear_after";
+        REQUIRE(bm.configure(bufferConfig));
+    }
+
 #if defined CATCH_CONFIG_ENABLE_BENCHMARKING
 
     SECTION("Benchmarking section scalar int") {