From 7224f72654e03fa0c6a0e65e683be29df65c7b7a Mon Sep 17 00:00:00 2001
From: Jens <134612744+JensOgorek@users.noreply.github.com>
Date: Tue, 3 Dec 2024 14:11:55 +0100
Subject: [PATCH] fix for all modules (#109)

---
 main/modules/analog.cpp          | 5 ++---
 main/modules/analog.h            | 2 +-
 main/modules/bluetooth.cpp       | 5 ++---
 main/modules/bluetooth.h         | 2 +-
 main/modules/can.cpp             | 5 ++---
 main/modules/can.h               | 2 +-
 main/modules/canopen_master.cpp  | 5 ++---
 main/modules/canopen_master.h    | 2 +-
 main/modules/canopen_motor.cpp   | 5 ++---
 main/modules/canopen_motor.h     | 2 +-
 main/modules/d1_motor.cpp        | 5 ++---
 main/modules/d1_motor.h          | 2 +-
 main/modules/dunker_motor.cpp    | 5 ++---
 main/modules/dunker_motor.h      | 2 +-
 main/modules/dunker_wheels.cpp   | 5 ++---
 main/modules/dunker_wheels.h     | 2 +-
 main/modules/expander.cpp        | 8 ++++----
 main/modules/expander.h          | 2 +-
 main/modules/imu.cpp             | 5 ++---
 main/modules/imu.h               | 2 +-
 main/modules/input.cpp           | 5 ++---
 main/modules/input.h             | 3 +--
 main/modules/linear_motor.cpp    | 5 ++---
 main/modules/linear_motor.h      | 2 +-
 main/modules/mcp23017.cpp        | 5 ++---
 main/modules/mcp23017.h          | 2 +-
 main/modules/module.cpp          | 2 +-
 main/modules/module.h            | 2 +-
 main/modules/motor_axis.cpp      | 5 ++---
 main/modules/motor_axis.h        | 2 +-
 main/modules/odrive_motor.cpp    | 5 ++---
 main/modules/odrive_motor.h      | 2 +-
 main/modules/odrive_wheels.cpp   | 5 ++---
 main/modules/odrive_wheels.h     | 2 +-
 main/modules/output.cpp          | 5 ++---
 main/modules/output.h            | 2 +-
 main/modules/pwm_output.cpp      | 5 ++---
 main/modules/pwm_output.h        | 2 +-
 main/modules/rmd_motor.cpp       | 5 ++---
 main/modules/rmd_motor.h         | 2 +-
 main/modules/rmd_pair.cpp        | 5 ++---
 main/modules/rmd_pair.h          | 2 +-
 main/modules/roboclaw.cpp        | 5 ++---
 main/modules/roboclaw.h          | 2 +-
 main/modules/roboclaw_motor.cpp  | 5 ++---
 main/modules/roboclaw_motor.h    | 2 +-
 main/modules/roboclaw_wheels.cpp | 5 ++---
 main/modules/roboclaw_wheels.h   | 2 +-
 main/modules/serial.cpp          | 5 ++---
 main/modules/serial.h            | 2 +-
 main/modules/stepper_motor.cpp   | 5 ++---
 main/modules/stepper_motor.h     | 2 +-
 52 files changed, 79 insertions(+), 104 deletions(-)

diff --git a/main/modules/analog.cpp b/main/modules/analog.cpp
index d076eb5..89929aa 100644
--- 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
index e685588..b47aad4 100644
--- 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
index 3b6deec..93e8e29 100644
--- 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
index ccddbfd..71d4b23 100644
--- 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
index b1de644..4b64fa7 100644
--- 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
index bcdc91f..1def1ae 100644
--- 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
index b36f8af..8bb8fc1 100644
--- 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
index 7e931ad..842cf40 100644
--- 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
index 01290bf..45a7df0 100644
--- 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
index c5ba979..55a7b9d 100644
--- 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
index a9959fd..0f4e184 100644
--- 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
index 756f329..2a880dd 100644
--- 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
index 993d303..b4670a2 100644
--- 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
index 4fd07b8..f81057f 100644
--- 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
index e3c5bc6..449e88a 100644
--- 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
index 904089a..7ac1cbe 100644
--- 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
index b6407a5..0666af0 100644
--- 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
index a6883e5..b37f375 100644
--- 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
index 58df53e..ed89f08 100644
--- 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
index df277fd..39bc6a2 100644
--- 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
index 8469056..aefc84c 100644
--- 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
index 71d1bb0..d809f3c 100644
--- 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
index 09a5fb2..8ab355a 100644
--- 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
index a465f44..ff39e3c 100644
--- 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
index 13c133d..7adc013 100644
--- 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
index 7bfb854..d3ab94b 100644
--- 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
index 33c0711..0d728c5 100644
--- 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
index 3f94469..4147b87 100644
--- 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
index c3406cb..f38ff6c 100644
--- 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
index 5feb507..c78c323 100644
--- 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
index 8951ddb..2a0b75e 100644
--- 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
index 64bc221..87c7d41 100644
--- 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);
diff --git a/main/modules/odrive_wheels.cpp b/main/modules/odrive_wheels.cpp
index cfcda2e..880055a 100644
--- a/main/modules/odrive_wheels.cpp
+++ b/main/modules/odrive_wheels.cpp
@@ -2,14 +2,13 @@
 #include "../utils/timing.h"
 #include <memory>
 
-const std::map<std::string, Variable_ptr> &ODriveWheels::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {
+const std::map<std::string, Variable_ptr> ODriveWheels::get_defaults() {
+    return {
         {"width", std::make_shared<NumberVariable>(1.0)},
         {"linear_speed", std::make_shared<NumberVariable>()},
         {"angular_speed", std::make_shared<NumberVariable>()},
         {"enabled", std::make_shared<BooleanVariable>(true)},
     };
-    return defaults;
 }
 
 ODriveWheels::ODriveWheels(const std::string name, const ODriveMotor_ptr left_motor, const ODriveMotor_ptr right_motor)
diff --git a/main/modules/odrive_wheels.h b/main/modules/odrive_wheels.h
index dc02ac6..aee543c 100644
--- a/main/modules/odrive_wheels.h
+++ b/main/modules/odrive_wheels.h
@@ -17,5 +17,5 @@ class ODriveWheels : public Module {
     ODriveWheels(const std::string name, const ODriveMotor_ptr left_motor, const ODriveMotor_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/output.cpp b/main/modules/output.cpp
index d02f87f..7938b3a 100644
--- a/main/modules/output.cpp
+++ b/main/modules/output.cpp
@@ -3,12 +3,11 @@
 #include <math.h>
 #include <stdexcept>
 
-const std::map<std::string, Variable_ptr> &Output::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {
+const std::map<std::string, Variable_ptr> Output::get_defaults() {
+    return {
         {"level", std::make_shared<IntegerVariable>()},
         {"change", std::make_shared<IntegerVariable>()},
     };
-    return defaults;
 }
 
 Output::Output(const std::string name) : Module(output, name) {
diff --git a/main/modules/output.h b/main/modules/output.h
index f3f8ea7..d336e1d 100644
--- a/main/modules/output.h
+++ b/main/modules/output.h
@@ -17,7 +17,7 @@ class Output : 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 GpioOutput : public Output {
diff --git a/main/modules/pwm_output.cpp b/main/modules/pwm_output.cpp
index 747803c..dc7362a 100644
--- a/main/modules/pwm_output.cpp
+++ b/main/modules/pwm_output.cpp
@@ -1,12 +1,11 @@
 #include "pwm_output.h"
 #include <driver/ledc.h>
 
-const std::map<std::string, Variable_ptr> &PwmOutput::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {
+const std::map<std::string, Variable_ptr> PwmOutput::get_defaults() {
+    return {
         {"frequency", std::make_shared<IntegerVariable>(1000)},
         {"duty", std::make_shared<IntegerVariable>(128)},
     };
-    return defaults;
 }
 
 PwmOutput::PwmOutput(const std::string name,
diff --git a/main/modules/pwm_output.h b/main/modules/pwm_output.h
index 2cfd5c9..f00bcae 100644
--- a/main/modules/pwm_output.h
+++ b/main/modules/pwm_output.h
@@ -18,5 +18,5 @@ class PwmOutput : public Module {
               const ledc_channel_t ledc_channel);
     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/rmd_motor.cpp b/main/modules/rmd_motor.cpp
index 9d9847d..cc2e08a 100644
--- a/main/modules/rmd_motor.cpp
+++ b/main/modules/rmd_motor.cpp
@@ -6,15 +6,14 @@
 #include <math.h>
 #include <memory>
 
-const std::map<std::string, Variable_ptr> &RmdMotor::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {
+const std::map<std::string, Variable_ptr> RmdMotor::get_defaults() {
+    return {
         {"position", std::make_shared<NumberVariable>()},
         {"torque", std::make_shared<NumberVariable>()},
         {"speed", std::make_shared<NumberVariable>()},
         {"temperature", std::make_shared<NumberVariable>()},
         {"can_age", std::make_shared<NumberVariable>()},
     };
-    return defaults;
 }
 
 RmdMotor::RmdMotor(const std::string name, const Can_ptr can, const uint8_t motor_id, const int ratio)
diff --git a/main/modules/rmd_motor.h b/main/modules/rmd_motor.h
index 241a3e1..0897817 100644
--- a/main/modules/rmd_motor.h
+++ b/main/modules/rmd_motor.h
@@ -29,7 +29,7 @@ class RmdMotor : public Module, public std::enable_shared_from_this<RmdMotor> {
     void step() override;
     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();
 
     bool power(double target_power);
     bool speed(double target_speed);
diff --git a/main/modules/rmd_pair.cpp b/main/modules/rmd_pair.cpp
index 5a116f4..1ee5999 100644
--- a/main/modules/rmd_pair.cpp
+++ b/main/modules/rmd_pair.cpp
@@ -3,12 +3,11 @@
 #include "utils/uart.h"
 #include <math.h>
 
-const std::map<std::string, Variable_ptr> &RmdPair::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {
+const std::map<std::string, Variable_ptr> RmdPair::get_defaults() {
+    return {
         {"v_max", std::make_shared<NumberVariable>(360)},
         {"a_max", std::make_shared<NumberVariable>(10000)},
     };
-    return defaults;
 }
 
 RmdPair::RmdPair(const std::string name, const RmdMotor_ptr rmd1, const RmdMotor_ptr rmd2)
diff --git a/main/modules/rmd_pair.h b/main/modules/rmd_pair.h
index f1fea0e..cfdc3a4 100644
--- a/main/modules/rmd_pair.h
+++ b/main/modules/rmd_pair.h
@@ -29,5 +29,5 @@ class RmdPair : public Module {
 public:
     RmdPair(const std::string name, const RmdMotor_ptr rmd1, const RmdMotor_ptr rmd2);
     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/roboclaw.cpp b/main/modules/roboclaw.cpp
index 3ce4ade..cdcc205 100644
--- a/main/modules/roboclaw.cpp
+++ b/main/modules/roboclaw.cpp
@@ -5,11 +5,10 @@
 #define SetDWORDval(arg) (uint8_t)(((uint32_t)arg) >> 24), (uint8_t)(((uint32_t)arg) >> 16), (uint8_t)(((uint32_t)arg) >> 8), (uint8_t)arg
 #define SetWORDval(arg) (uint8_t)(((uint16_t)arg) >> 8), (uint8_t)arg
 
-const std::map<std::string, Variable_ptr> &RoboClaw::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {
+const std::map<std::string, Variable_ptr> RoboClaw::get_defaults() {
+    return {
         {"temperature", std::make_shared<NumberVariable>()},
     };
-    return defaults;
 }
 
 RoboClaw::RoboClaw(const std::string name, const ConstSerial_ptr serial, const uint8_t address)
diff --git a/main/modules/roboclaw.h b/main/modules/roboclaw.h
index 032ed8e..6996dff 100644
--- a/main/modules/roboclaw.h
+++ b/main/modules/roboclaw.h
@@ -117,7 +117,7 @@ class RoboClaw : public Module {
 public:
     RoboClaw(const std::string name, const ConstSerial_ptr serial, const uint8_t address);
     void step() override;
-    static const std::map<std::string, Variable_ptr> &get_defaults();
+    static const std::map<std::string, Variable_ptr> get_defaults();
 
     bool ForwardM1(uint8_t speed);
     bool BackwardM1(uint8_t speed);
diff --git a/main/modules/roboclaw_motor.cpp b/main/modules/roboclaw_motor.cpp
index 649ed2d..3fac09e 100644
--- a/main/modules/roboclaw_motor.cpp
+++ b/main/modules/roboclaw_motor.cpp
@@ -4,11 +4,10 @@
 
 #define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
 
-const std::map<std::string, Variable_ptr> &RoboClawMotor::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {
+const std::map<std::string, Variable_ptr> RoboClawMotor::get_defaults() {
+    return {
         {"position", std::make_shared<IntegerVariable>()},
     };
-    return defaults;
 }
 
 RoboClawMotor::RoboClawMotor(const std::string name, const RoboClaw_ptr roboclaw, const unsigned int motor_number)
diff --git a/main/modules/roboclaw_motor.h b/main/modules/roboclaw_motor.h
index aca180f..3d1e8e2 100644
--- a/main/modules/roboclaw_motor.h
+++ b/main/modules/roboclaw_motor.h
@@ -15,7 +15,7 @@ class RoboClawMotor : public Module {
     RoboClawMotor(const std::string name, const RoboClaw_ptr roboclaw, const unsigned int motor_number);
     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();
 
     int64_t get_position() const;
     void power(double value);
diff --git a/main/modules/roboclaw_wheels.cpp b/main/modules/roboclaw_wheels.cpp
index 078c9ba..2936c6a 100644
--- a/main/modules/roboclaw_wheels.cpp
+++ b/main/modules/roboclaw_wheels.cpp
@@ -2,15 +2,14 @@
 #include "../utils/timing.h"
 #include <memory>
 
-const std::map<std::string, Variable_ptr> &RoboClawWheels::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {
+const std::map<std::string, Variable_ptr> RoboClawWheels::get_defaults() {
+    return {
         {"width", std::make_shared<NumberVariable>(1)},
         {"linear_speed", std::make_shared<NumberVariable>()},
         {"angular_speed", std::make_shared<NumberVariable>()},
         {"enabled", std::make_shared<BooleanVariable>(true)},
         {"m_per_tick", std::make_shared<NumberVariable>(1)},
     };
-    return defaults;
 }
 
 RoboClawWheels::RoboClawWheels(const std::string name, const RoboClawMotor_ptr left_motor, const RoboClawMotor_ptr right_motor)
diff --git a/main/modules/roboclaw_wheels.h b/main/modules/roboclaw_wheels.h
index a5a9fd4..def922c 100644
--- a/main/modules/roboclaw_wheels.h
+++ b/main/modules/roboclaw_wheels.h
@@ -16,5 +16,5 @@ class RoboClawWheels : public Module {
     RoboClawWheels(const std::string name, const RoboClawMotor_ptr left_motor, const RoboClawMotor_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/serial.cpp b/main/modules/serial.cpp
index 51884b2..721e2a2 100644
--- a/main/modules/serial.cpp
+++ b/main/modules/serial.cpp
@@ -8,9 +8,8 @@
 #define TX_BUF_SIZE 2048
 #define UART_PATTERN_QUEUE_SIZE 100
 
-const std::map<std::string, Variable_ptr> &Serial::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {};
-    return defaults;
+const std::map<std::string, Variable_ptr> Serial::get_defaults() {
+    return {};
 }
 
 Serial::Serial(const std::string name,
diff --git a/main/modules/serial.h b/main/modules/serial.h
index f5a36b1..b824810 100644
--- a/main/modules/serial.h
+++ b/main/modules/serial.h
@@ -32,5 +32,5 @@ class Serial : public Module {
     void clear() const;
     std::string get_output() const 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/stepper_motor.cpp b/main/modules/stepper_motor.cpp
index ba4ff0b..8f491d3 100644
--- a/main/modules/stepper_motor.cpp
+++ b/main/modules/stepper_motor.cpp
@@ -13,13 +13,12 @@
 
 #define MIN_SPEED 490
 
-const std::map<std::string, Variable_ptr> &StepperMotor::get_defaults() {
-    static const std::map<std::string, Variable_ptr> defaults = {
+const std::map<std::string, Variable_ptr> StepperMotor::get_defaults() {
+    return {
         {"position", std::make_shared<IntegerVariable>()},
         {"speed", std::make_shared<IntegerVariable>()},
         {"idle", std::make_shared<BooleanVariable>(true)},
     };
-    return defaults;
 }
 
 StepperMotor::StepperMotor(const std::string name,
diff --git a/main/modules/stepper_motor.h b/main/modules/stepper_motor.h
index 8b5deab..bc9a775 100644
--- a/main/modules/stepper_motor.h
+++ b/main/modules/stepper_motor.h
@@ -45,7 +45,7 @@ class StepperMotor : public Module, virtual public Motor {
                  const ledc_channel_t ledc_channel);
     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();
 
     StepperState get_state() const { return this->state; }
     int32_t get_target_position() const { return this->target_position; }