fix for all modules (#109)

zauberzeug · Dec 3, 2024 · 7224f72 · 7224f72
1 parent 06d11ca
commit 7224f72
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Showing 52 changed files with 79 additions and 104 deletions.
diff --git a/main/modules/analog.cpp b/main/modules/analog.cpp
@@ -6,12 +6,11 @@
 #include "freertos/task.h"
 #include "uart.h"
 
-const std::map<std::string, Variable_ptr> &Analog::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {
+const std::map<std::string, Variable_ptr> Analog::get_defaults() {
+    return {
         {"raw", std::make_shared<IntegerVariable>()},
         {"voltage", std::make_shared<NumberVariable>()},
     };
-    return defaults;
 }
 
 Analog::Analog(const std::string name, uint8_t unit, uint8_t channel, float attenuation_level)

diff --git a/main/modules/analog.h b/main/modules/analog.h
@@ -17,5 +17,5 @@ class Analog : public Module {
 public:
     Analog(const std::string name, uint8_t unit, uint8_t channel, float attenuation_level);
     void step() override;
-    static const std::map<std::string, Variable_ptr> &get_defaults();
+    static const std::map<std::string, Variable_ptr> get_defaults();
 };
diff --git a/main/modules/bluetooth.cpp b/main/modules/bluetooth.cpp
@@ -1,9 +1,8 @@
 #include "bluetooth.h"
 #include "uart.h"
 
-const std::map<std::string, Variable_ptr> &Bluetooth::get_defaults() {
-    static std::map<std::string, Variable_ptr> defaults = {};
-    return defaults;
+const std::map<std::string, Variable_ptr> Bluetooth::get_defaults() {
+    return {};
 }
 
 Bluetooth::Bluetooth(const std::string name, const std::string device_name, MessageHandler message_handler)

diff --git a/main/modules/bluetooth.h b/main/modules/bluetooth.h
@@ -16,5 +16,5 @@ class Bluetooth : public Module {
     Bluetooth(const std::string name, const std::string device_name, MessageHandler message_handler);
 
     void call(const std::string method_name, const std::vector<ConstExpression_ptr> arguments) override;
-    static const std::map<std::string, Variable_ptr> &get_defaults();
+    static const std::map<std::string, Variable_ptr> get_defaults();
 };
diff --git a/main/modules/can.cpp b/main/modules/can.cpp
@@ -4,8 +4,8 @@
 #include "driver/twai.h"
 #include <stdexcept>
 
-const std::map<std::string, Variable_ptr> &Can::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {
+const std::map<std::string, Variable_ptr> Can::get_defaults() {
+    return {
         {"state", std::make_shared<StringVariable>()},
         {"tx_error_counter", std::make_shared<IntegerVariable>()},
         {"rx_error_counter", std::make_shared<IntegerVariable>()},
@@ -17,7 +17,6 @@ const std::map<std::string, Variable_ptr> &Can::get_defaults() {
         {"arb_lost_count", std::make_shared<IntegerVariable>()},
         {"bus_error_count", std::make_shared<IntegerVariable>()},
     };
-    return defaults;
 }
 
 Can::Can(const std::string name, const gpio_num_t rx_pin, const gpio_num_t tx_pin, const long baud_rate)

diff --git a/main/modules/can.h b/main/modules/can.h
@@ -15,7 +15,7 @@ class Can : public Module {
     Can(const std::string name, const gpio_num_t rx_pin, const gpio_num_t tx_pin, const long baud_rate);
     void step() override;
     void call(const std::string method_name, const std::vector<ConstExpression_ptr> arguments) override;
-    static const std::map<std::string, Variable_ptr> &get_defaults();
+    static const std::map<std::string, Variable_ptr> get_defaults();
 
     bool receive();
     void send(const uint32_t id, const uint8_t data[8], const bool rtr = false, const uint8_t dlc = 8) const;

diff --git a/main/modules/canopen_master.cpp b/main/modules/canopen_master.cpp
@@ -1,10 +1,9 @@
 #include "canopen_master.h"
 
-const std::map<std::string, Variable_ptr> &CanOpenMaster::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {
+const std::map<std::string, Variable_ptr> CanOpenMaster::get_defaults() {
+    return {
         {"sync_interval", std::make_shared<IntegerVariable>(0)},
     };
-    return defaults;
 }
 
 CanOpenMaster::CanOpenMaster(const std::string &name, const Can_ptr can)

diff --git a/main/modules/canopen_master.h b/main/modules/canopen_master.h
@@ -14,5 +14,5 @@ class CanOpenMaster : public Module, public std::enable_shared_from_this<CanOpen
 public:
     CanOpenMaster(const std::string &name, const Can_ptr can);
     void step() override;
-    static const std::map<std::string, Variable_ptr> &get_defaults();
+    static const std::map<std::string, Variable_ptr> get_defaults();
 };
diff --git a/main/modules/canopen_motor.cpp b/main/modules/canopen_motor.cpp
@@ -47,8 +47,8 @@ static const std::string PROP_PV_IS_MOVING{"pv_is_moving"};
 static const std::string PROP_CTRL_ENA_OP{"ctrl_enable"};
 static const std::string PROP_CTRL_HALT{"ctrl_halt"};
 
-const std::map<std::string, Variable_ptr> &CanOpenMotor::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {
+const std::map<std::string, Variable_ptr> CanOpenMotor::get_defaults() {
+    return {
         {PROP_INITIALIZED, std::make_shared<BooleanVariable>(false)},
         {PROP_PENDING_READS, std::make_shared<IntegerVariable>(0)},
         {PROP_PENDING_WRITES, std::make_shared<IntegerVariable>(0)},
@@ -68,7 +68,6 @@ const std::map<std::string, Variable_ptr> &CanOpenMotor::get_defaults() {
         {PROP_CTRL_ENA_OP, std::make_shared<BooleanVariable>(false)},
         {PROP_CTRL_HALT, std::make_shared<BooleanVariable>(true)},
     };
-    return defaults;
 }
 
 CanOpenMotor::CanOpenMotor(const std::string &name, Can_ptr can, int64_t node_id)

diff --git a/main/modules/canopen_motor.h b/main/modules/canopen_motor.h
@@ -58,7 +58,7 @@ class CanOpenMotor : public Module, public std::enable_shared_from_this<CanOpenM
     void subscribe_to_can();
     void call(const std::string method_name, const std::vector<ConstExpression_ptr> arguments) override;
     void handle_can_msg(const uint32_t id, const int count, const uint8_t *const data) override;
-    static const std::map<std::string, Variable_ptr> &get_defaults();
+    static const std::map<std::string, Variable_ptr> get_defaults();
 
     void stop() override;
     double get_position() override;

diff --git a/main/modules/d1_motor.cpp b/main/modules/d1_motor.cpp
@@ -4,8 +4,8 @@
 #include "utils/timing.h"
 #include <cinttypes>
 
-const std::map<std::string, Variable_ptr> &D1Motor::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {
+const std::map<std::string, Variable_ptr> D1Motor::get_defaults() {
+    return {
         {"switch_search_speed", std::make_shared<IntegerVariable>()},
         {"zero_search_speed", std::make_shared<IntegerVariable>()},
         {"homing_acceleration", std::make_shared<IntegerVariable>()},
@@ -17,7 +17,6 @@ const std::map<std::string, Variable_ptr> &D1Motor::get_defaults() {
         {"status_word", std::make_shared<IntegerVariable>(-1)},
         {"status_flags", std::make_shared<IntegerVariable>()},
     };
-    return defaults;
 }
 
 D1Motor::D1Motor(const std::string &name, Can_ptr can, int64_t node_id)

diff --git a/main/modules/d1_motor.h b/main/modules/d1_motor.h
@@ -26,7 +26,7 @@ class D1Motor : public Module, public std::enable_shared_from_this<D1Motor> {
     void call(const std::string method_name, const std::vector<ConstExpression_ptr> arguments) override;
     void step() override;
     void handle_can_msg(const uint32_t id, const int count, const uint8_t *const data) override;
-    static const std::map<std::string, Variable_ptr> &get_defaults();
+    static const std::map<std::string, Variable_ptr> get_defaults();
     void setup();
     void home();
     void profile_position(const int32_t position);

diff --git a/main/modules/dunker_motor.cpp b/main/modules/dunker_motor.cpp
@@ -4,13 +4,12 @@
 #include "utils/timing.h"
 #include <cinttypes>
 
-const std::map<std::string, Variable_ptr> &DunkerMotor::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {
+const std::map<std::string, Variable_ptr> DunkerMotor::get_defaults() {
+    return {
         {"speed", std::make_shared<NumberVariable>()},
         {"m_per_turn", std::make_shared<NumberVariable>(1.0)},
         {"reversed", std::make_shared<BooleanVariable>()},
     };
-    return defaults;
 }
 
 DunkerMotor::DunkerMotor(const std::string &name, Can_ptr can, int64_t node_id)

diff --git a/main/modules/dunker_motor.h b/main/modules/dunker_motor.h
@@ -25,7 +25,7 @@ class DunkerMotor : public Module, public std::enable_shared_from_this<DunkerMot
     void subscribe_to_can();
     void call(const std::string method_name, const std::vector<ConstExpression_ptr> arguments) override;
     void handle_can_msg(const uint32_t id, const int count, const uint8_t *const data) override;
-    static const std::map<std::string, Variable_ptr> &get_defaults();
+    static const std::map<std::string, Variable_ptr> get_defaults();
     void speed(const double speed);
     double get_speed();
 };
diff --git a/main/modules/dunker_wheels.cpp b/main/modules/dunker_wheels.cpp
@@ -1,13 +1,12 @@
 #include "dunker_wheels.h"
 #include <memory>
 
-const std::map<std::string, Variable_ptr> &DunkerWheels::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {
+const std::map<std::string, Variable_ptr> DunkerWheels::get_defaults() {
+    return {
         {"width", std::make_shared<NumberVariable>(1.0)},
         {"linear_speed", std::make_shared<NumberVariable>()},
         {"angular_speed", std::make_shared<NumberVariable>()},
     };
-    return defaults;
 }
 
 DunkerWheels::DunkerWheels(const std::string name, const DunkerMotor_ptr left_motor, const DunkerMotor_ptr right_motor)

diff --git a/main/modules/dunker_wheels.h b/main/modules/dunker_wheels.h
@@ -12,5 +12,5 @@ class DunkerWheels : public Module {
     DunkerWheels(const std::string name, const DunkerMotor_ptr left_motor, const DunkerMotor_ptr right_motor);
     void step() override;
     void call(const std::string method_name, const std::vector<ConstExpression_ptr> arguments) override;
-    static const std::map<std::string, Variable_ptr> &get_defaults();
+    static const std::map<std::string, Variable_ptr> get_defaults();
 };
diff --git a/main/modules/expander.cpp b/main/modules/expander.cpp
@@ -9,14 +9,14 @@
 #include <cstring>
 #include <stdexcept>
 
-const std::map<std::string, Variable_ptr> &Expander::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {
+const std::map<std::string, Variable_ptr> Expander::get_defaults() {
+    return {
         {"boot_timeout", std::make_shared<NumberVariable>(5.0)},
         {"ping_interval", std::make_shared<NumberVariable>(1.0)},
         {"ping_timeout", std::make_shared<NumberVariable>(2.0)},
         {"is_ready", std::make_shared<BooleanVariable>(false)},
-        {"last_message_age", std::make_shared<IntegerVariable>(0)}};
-    return defaults;
+        {"last_message_age", std::make_shared<IntegerVariable>(0)},
+    };
 }
 
 Expander::Expander(const std::string name,

diff --git a/main/modules/expander.h b/main/modules/expander.h
@@ -45,5 +45,5 @@ class Expander : public Module {
     void add_proxy(const std::string module_name,
                    const std::string module_type,
                    const std::vector<ConstExpression_ptr> arguments);
-    static const std::map<std::string, Variable_ptr> &get_defaults();
+    static const std::map<std::string, Variable_ptr> get_defaults();
 };
diff --git a/main/modules/imu.cpp b/main/modules/imu.cpp
@@ -4,8 +4,8 @@
 #define I2C_MASTER_TX_BUF_DISABLE 0
 #define I2C_MASTER_RX_BUF_DISABLE 0
 
-const std::map<std::string, Variable_ptr> &Imu::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {
+const std::map<std::string, Variable_ptr> Imu::get_defaults() {
+    return {
         {"acc_x", std::make_shared<NumberVariable>()},
         {"acc_y", std::make_shared<NumberVariable>()},
         {"acc_z", std::make_shared<NumberVariable>()},
@@ -21,7 +21,6 @@ const std::map<std::string, Variable_ptr> &Imu::get_defaults() {
         {"cal_acc", std::make_shared<NumberVariable>()},
         {"cal_mag", std::make_shared<NumberVariable>()},
     };
-    return defaults;
 }
 
 Imu::Imu(const std::string name, i2c_port_t i2c_port, gpio_num_t sda_pin, gpio_num_t scl_pin, uint8_t address, int clk_speed)

diff --git a/main/modules/imu.h b/main/modules/imu.h
@@ -18,5 +18,5 @@ class Imu : public Module {
 public:
     Imu(const std::string name, i2c_port_t i2c_port, gpio_num_t sda_pin, gpio_num_t scl_pin, uint8_t address, int clk_speed);
     void step() override;
-    static const std::map<std::string, Variable_ptr> &get_defaults();
+    static const std::map<std::string, Variable_ptr> get_defaults();
 };
diff --git a/main/modules/input.cpp b/main/modules/input.cpp
@@ -4,14 +4,13 @@
 #include <memory>
 #include <stdexcept>
 
-const std::map<std::string, Variable_ptr> &Input::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {
+const std::map<std::string, Variable_ptr> Input::get_defaults() {
+    return {
         {"level", std::make_shared<IntegerVariable>()},
         {"change", std::make_shared<IntegerVariable>()},
         {"inverted", std::make_shared<BooleanVariable>()},
         {"active", std::make_shared<BooleanVariable>()},
     };
-    return defaults;
 }
 
 Input::Input(const std::string name) : Module(input, name) {

diff --git a/main/modules/input.h b/main/modules/input.h
@@ -17,8 +17,7 @@ class Input : public Module {
 public:
     void step() override;
     void call(const std::string method_name, const std::vector<ConstExpression_ptr> arguments) override;
-    static const std::map<std::string, Variable_ptr> &get_defaults();
-
+    static const std::map<std::string, Variable_ptr> get_defaults();
     std::string get_output() const override;
     virtual bool get_level() const = 0;
 };

diff --git a/main/modules/linear_motor.cpp b/main/modules/linear_motor.cpp
@@ -1,12 +1,11 @@
 #include "linear_motor.h"
 #include <memory>
 
-const std::map<std::string, Variable_ptr> &LinearMotor::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {
+const std::map<std::string, Variable_ptr> LinearMotor::get_defaults() {
+    return {
         {"in", std::make_shared<BooleanVariable>()},
         {"out", std::make_shared<BooleanVariable>()},
     };
-    return defaults;
 }
 
 LinearMotor::LinearMotor(const std::string name) : Module(output, name) {

diff --git a/main/modules/linear_motor.h b/main/modules/linear_motor.h
@@ -17,7 +17,7 @@ class LinearMotor : public Module {
 public:
     void step() override;
     void call(const std::string method_name, const std::vector<ConstExpression_ptr> arguments) override;
-    static const std::map<std::string, Variable_ptr> &get_defaults();
+    static const std::map<std::string, Variable_ptr> get_defaults();
 };
 
 class GpioLinearMotor : public LinearMotor {

diff --git a/main/modules/mcp23017.cpp b/main/modules/mcp23017.cpp
@@ -4,13 +4,12 @@
 #define I2C_MASTER_TX_BUF_DISABLE 0
 #define I2C_MASTER_RX_BUF_DISABLE 0
 
-const std::map<std::string, Variable_ptr> &Mcp23017::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {
+const std::map<std::string, Variable_ptr> Mcp23017::get_defaults() {
+    return {
         {"levels", std::make_shared<IntegerVariable>()},
         {"inputs", std::make_shared<IntegerVariable>(0xffff)}, // default: all pins input
         {"pullups", std::make_shared<IntegerVariable>()},
     };
-    return defaults;
 }
 
 Mcp23017::Mcp23017(const std::string name, i2c_port_t i2c_port, gpio_num_t sda_pin, gpio_num_t scl_pin, uint8_t address, int clk_speed)

diff --git a/main/modules/mcp23017.h b/main/modules/mcp23017.h
@@ -31,7 +31,7 @@ class Mcp23017 : public Module {
     Mcp23017(const std::string name, i2c_port_t i2c_port, gpio_num_t sda_pin, gpio_num_t scl_pin, uint8_t address, int clk_speed);
     void step() override;
     void call(const std::string method_name, const std::vector<ConstExpression_ptr> arguments) override;
-    static const std::map<std::string, Variable_ptr> &get_defaults();
+    static const std::map<std::string, Variable_ptr> get_defaults();
 
     bool get_level(const uint8_t number) const;
     void set_level(const uint8_t number, const bool value) const;

diff --git a/main/modules/module.cpp b/main/modules/module.cpp
@@ -420,7 +420,7 @@ void Module::handle_can_msg(const uint32_t id, const int count, const uint8_t *d
     throw std::runtime_error("CAN message handler is not implemented");
 }
 
-const std::map<std::string, Variable_ptr> &Module::get_module_defaults(const std::string &type_name) {
+const std::map<std::string, Variable_ptr> Module::get_module_defaults(const std::string &type_name) {
     if (type_name == "Expander") {
         return Expander::get_defaults();
     } else if (type_name == "Input") {

diff --git a/main/modules/module.h b/main/modules/module.h
@@ -62,7 +62,7 @@ class Module {
                              MessageHandler message_handler);
     virtual void step();
     virtual void call(const std::string method_name, const std::vector<ConstExpression_ptr> arguments);
-    static const std::map<std::string, Variable_ptr> &get_module_defaults(const std::string &type_name);
+    static const std::map<std::string, Variable_ptr> get_module_defaults(const std::string &type_name);
     void call_with_shadows(const std::string method_name, const std::vector<ConstExpression_ptr> arguments);
     virtual std::string get_output() const;
     Variable_ptr get_property(const std::string property_name) const;

diff --git a/main/modules/motor_axis.cpp b/main/modules/motor_axis.cpp
@@ -2,9 +2,8 @@
 #include "utils/uart.h"
 #include <stdexcept>
 
-const std::map<std::string, Variable_ptr> &MotorAxis::get_defaults() {
-    static std::map<std::string, Variable_ptr> defaults = {};
-    return defaults;
+const std::map<std::string, Variable_ptr> MotorAxis::get_defaults() {
+    return {};
 }
 
 MotorAxis::MotorAxis(const std::string name, const Motor_ptr motor, const Input_ptr input1, const Input_ptr input2)

diff --git a/main/modules/motor_axis.h b/main/modules/motor_axis.h
@@ -15,5 +15,5 @@ class MotorAxis : public Module {
     MotorAxis(const std::string name, const Motor_ptr motor, const Input_ptr input1, const Input_ptr input2);
     void step() override;
     void call(const std::string method_name, const std::vector<ConstExpression_ptr> arguments) override;
-    static const std::map<std::string, Variable_ptr> &get_defaults();
+    static const std::map<std::string, Variable_ptr> get_defaults();
 };
diff --git a/main/modules/odrive_motor.cpp b/main/modules/odrive_motor.cpp
@@ -2,8 +2,8 @@
 #include <cstring>
 #include <memory>
 
-const std::map<std::string, Variable_ptr> &ODriveMotor::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {
+const std::map<std::string, Variable_ptr> ODriveMotor::get_defaults() {
+    return {
         {"position", std::make_shared<NumberVariable>()},
         {"speed", std::make_shared<NumberVariable>()},
         {"tick_offset", std::make_shared<NumberVariable>()},
@@ -13,7 +13,6 @@ const std::map<std::string, Variable_ptr> &ODriveMotor::get_defaults() {
         {"axis_error", std::make_shared<IntegerVariable>()},
         {"motor_error_flag", std::make_shared<IntegerVariable>()},
     };
-    return defaults;
 }
 
 ODriveMotor::ODriveMotor(const std::string name, const Can_ptr can, const uint32_t can_id, const uint32_t version)

diff --git a/main/modules/odrive_motor.h b/main/modules/odrive_motor.h
@@ -25,7 +25,7 @@ class ODriveMotor : public Module, public std::enable_shared_from_this<ODriveMot
     void subscribe_to_can();
     void call(const std::string method_name, const std::vector<ConstExpression_ptr> arguments) override;
     void handle_can_msg(const uint32_t id, const int count, const uint8_t *const data) override;
-    static const std::map<std::string, Variable_ptr> &get_defaults();
+    static const std::map<std::string, Variable_ptr> get_defaults();
     void power(const float torque);
     void speed(const float speed);
     void position(const float position);