Register module defaults using static initialization pattern (#125)

JensOgorek · falkoschindler · web-flow · commit a3fe4e0a7867 · 2025-01-28T09:53:38.000+01:00
* [revert] revert to property initialisation without get_defaults

* [updatess] remove get_defaults

* [update] remove default property handling from proxy

* [feat] awaiting proxy broadcasts with expander

* [refactor] refactoring

* [feat] register defaults before main

* [feat] change to regsiter style

* [fix] blank line

* [fix] added blank line to output

* [fix] added blank lines

* add type definitions for defaults functions and registry

---------

Co-authored-by: Falko Schindler &lt;falko@zauberzeug.com&gt;
diff --git a/main/modules/analog.cpp b/main/modules/analog.cpp
@@ -6,6 +6,8 @@
 #include "freertos/task.h"
 #include "uart.h"
 
+REGISTER_MODULE_DEFAULTS(Analog)
+
 const std::map<std::string, Variable_ptr> Analog::get_defaults() {
     return {
         {"raw", std::make_shared<IntegerVariable>()},
diff --git a/main/modules/bluetooth.cpp b/main/modules/bluetooth.cpp
@@ -1,6 +1,8 @@
 #include "bluetooth.h"
 #include "uart.h"
 
+REGISTER_MODULE_DEFAULTS(Bluetooth)
+
 const std::map<std::string, Variable_ptr> Bluetooth::get_defaults() {
     return {};
 }
diff --git a/main/modules/can.cpp b/main/modules/can.cpp
@@ -4,6 +4,8 @@
 #include "driver/twai.h"
 #include <stdexcept>
 
+REGISTER_MODULE_DEFAULTS(Can)
+
 const std::map<std::string, Variable_ptr> Can::get_defaults() {
     return {
         {"state", std::make_shared<StringVariable>()},
diff --git a/main/modules/canopen_master.cpp b/main/modules/canopen_master.cpp
@@ -1,5 +1,7 @@
 #include "canopen_master.h"
 
+REGISTER_MODULE_DEFAULTS(CanOpenMaster)
+
 const std::map<std::string, Variable_ptr> CanOpenMaster::get_defaults() {
     return {
         {"sync_interval", std::make_shared<IntegerVariable>(0)},
diff --git a/main/modules/canopen_motor.cpp b/main/modules/canopen_motor.cpp
@@ -47,6 +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"};
 
+REGISTER_MODULE_DEFAULTS(CanOpenMotor)
+
 const std::map<std::string, Variable_ptr> CanOpenMotor::get_defaults() {
     return {
         {PROP_INITIALIZED, std::make_shared<BooleanVariable>(false)},
diff --git a/main/modules/d1_motor.cpp b/main/modules/d1_motor.cpp
@@ -4,6 +4,8 @@
 #include "utils/timing.h"
 #include <cinttypes>
 
+REGISTER_MODULE_DEFAULTS(D1Motor)
+
 const std::map<std::string, Variable_ptr> D1Motor::get_defaults() {
     return {
         {"switch_search_speed", std::make_shared<IntegerVariable>()},
diff --git a/main/modules/dunker_motor.cpp b/main/modules/dunker_motor.cpp
@@ -4,6 +4,8 @@
 #include "utils/timing.h"
 #include <cinttypes>
 
+REGISTER_MODULE_DEFAULTS(DunkerMotor)
+
 const std::map<std::string, Variable_ptr> DunkerMotor::get_defaults() {
     return {
         {"speed", std::make_shared<NumberVariable>()},
diff --git a/main/modules/dunker_wheels.cpp b/main/modules/dunker_wheels.cpp
@@ -1,6 +1,8 @@
 #include "dunker_wheels.h"
 #include <memory>
 
+REGISTER_MODULE_DEFAULTS(DunkerWheels)
+
 const std::map<std::string, Variable_ptr> DunkerWheels::get_defaults() {
     return {
         {"width", std::make_shared<NumberVariable>(1.0)},
diff --git a/main/modules/expander.cpp b/main/modules/expander.cpp
@@ -9,6 +9,8 @@
 #include <cstring>
 #include <stdexcept>
 
+REGISTER_MODULE_DEFAULTS(Expander)
+
 const std::map<std::string, Variable_ptr> Expander::get_defaults() {
     return {
         {"boot_timeout", std::make_shared<NumberVariable>(5.0)},
diff --git a/main/modules/imu.cpp b/main/modules/imu.cpp
@@ -4,6 +4,8 @@
 #define I2C_MASTER_TX_BUF_DISABLE 0
 #define I2C_MASTER_RX_BUF_DISABLE 0
 
+REGISTER_MODULE_DEFAULTS(Imu)
+
 const std::map<std::string, Variable_ptr> Imu::get_defaults() {
     return {
         {"acc_x", std::make_shared<NumberVariable>()},
diff --git a/main/modules/input.cpp b/main/modules/input.cpp
@@ -4,6 +4,8 @@
 #include <memory>
 #include <stdexcept>
 
+REGISTER_MODULE_DEFAULTS(Input)
+
 const std::map<std::string, Variable_ptr> Input::get_defaults() {
     return {
         {"level", std::make_shared<IntegerVariable>()},
diff --git a/main/modules/linear_motor.cpp b/main/modules/linear_motor.cpp
@@ -1,6 +1,8 @@
 #include "linear_motor.h"
 #include <memory>
 
+REGISTER_MODULE_DEFAULTS(LinearMotor)
+
 const std::map<std::string, Variable_ptr> LinearMotor::get_defaults() {
     return {
         {"in", std::make_shared<BooleanVariable>()},
diff --git a/main/modules/mcp23017.cpp b/main/modules/mcp23017.cpp
@@ -4,6 +4,8 @@
 #define I2C_MASTER_TX_BUF_DISABLE 0
 #define I2C_MASTER_RX_BUF_DISABLE 0
 
+REGISTER_MODULE_DEFAULTS(Mcp23017)
+
 const std::map<std::string, Variable_ptr> Mcp23017::get_defaults() {
     return {
         {"levels", std::make_shared<IntegerVariable>()},
diff --git a/main/modules/module.cpp b/main/modules/module.cpp
@@ -420,58 +420,19 @@ 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");
 }
 
+DefaultsRegistry &Module::get_defaults_registry() {
+    static DefaultsRegistry defaults_registry;
+    return defaults_registry;
+}
+
+void Module::register_defaults(const std::string &type_name, DefaultsFunction defaults_function) {
+    get_defaults_registry()[type_name] = defaults_function;
+}
+
 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") {
-        return Input::get_defaults();
-    } else if (type_name == "Output") {
-        return Output::get_defaults();
-    } else if (type_name == "PwmOutput") {
-        return PwmOutput::get_defaults();
-    } else if (type_name == "Mcp23017") {
-        return Mcp23017::get_defaults();
-    } else if (type_name == "Imu") {
-        return Imu::get_defaults();
-    } else if (type_name == "Can") {
-        return Can::get_defaults();
-    } else if (type_name == "ODriveMotor") {
-        return ODriveMotor::get_defaults();
-    } else if (type_name == "ODriveWheels") {
-        return ODriveWheels::get_defaults();
-    } else if (type_name == "RmdMotor") {
-        return RmdMotor::get_defaults();
-    } else if (type_name == "RmdPair") {
-        return RmdPair::get_defaults();
-    } else if (type_name == "RoboClaw") {
-        return RoboClaw::get_defaults();
-    } else if (type_name == "RoboClawMotor") {
-        return RoboClawMotor::get_defaults();
-    } else if (type_name == "RoboClawWheels") {
-        return RoboClawWheels::get_defaults();
-    } else if (type_name == "StepperMotor") {
-        return StepperMotor::get_defaults();
-    } else if (type_name == "CanOpenMotor") {
-        return CanOpenMotor::get_defaults();
-    } else if (type_name == "CanOpenMaster") {
-        return CanOpenMaster::get_defaults();
-    } else if (type_name == "D1Motor") {
-        return D1Motor::get_defaults();
-    } else if (type_name == "DunkerMotor") {
-        return DunkerMotor::get_defaults();
-    } else if (type_name == "DunkerWheels") {
-        return DunkerWheels::get_defaults();
-    } else if (type_name == "Analog") {
-        return Analog::get_defaults();
-    } else if (type_name == "LinearMotor") {
-        return LinearMotor::get_defaults();
-    } else if (type_name == "Serial") {
-        return Serial::get_defaults();
-    } else if (type_name == "Bluetooth") {
-        return Bluetooth::get_defaults();
-    } else if (type_name == "MotorAxis") {
-        return MotorAxis::get_defaults();
-    } else {
-        throw std::runtime_error("module type \"" + type_name + "\" not found in defaults list");
+    auto it = get_defaults_registry().find(type_name);
+    if (it == get_defaults_registry().end()) {
+        throw std::runtime_error("No defaults registered for module type \"" + type_name + "\"");
     }
+    return it->second();
 }
diff --git a/main/modules/module.h b/main/modules/module.h
@@ -2,11 +2,22 @@
 
 #include "../compilation/expression.h"
 #include "../compilation/variable.h"
+#include <functional>
 #include <list>
 #include <map>
+#include <stdexcept>
 #include <string>
 #include <vector>
 
+#define REGISTER_MODULE_DEFAULTS(module_name)                                   \
+    namespace {                                                                 \
+    struct RegisterDefaults {                                                   \
+        RegisterDefaults() {                                                    \
+            Module::register_defaults(#module_name, module_name::get_defaults); \
+        }                                                                       \
+    } register_defaults;                                                        \
+    } // namespace
+
 enum ModuleType {
     bluetooth,
     core,
@@ -40,10 +51,13 @@ class Module;
 using Module_ptr = std::shared_ptr<Module>;
 using ConstModule_ptr = std::shared_ptr<const Module>;
 using MessageHandler = void (*)(const char *line, bool trigger_keep_alive, bool from_expander);
+using DefaultsFunction = std::function<std::map<std::string, Variable_ptr>()>;
+using DefaultsRegistry = std::map<std::string, DefaultsFunction>;
 
 class Module {
 private:
     std::list<Module_ptr> shadow_modules;
+    static DefaultsRegistry &get_defaults_registry();
 
 protected:
     std::map<std::string, Variable_ptr> properties;
@@ -62,6 +76,7 @@ class Module {
                              MessageHandler message_handler);
     virtual void step();
     virtual void call(const std::string method_name, const std::vector<ConstExpression_ptr> arguments);
+    static void register_defaults(const std::string &type_name, DefaultsFunction defaults_function);
     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;
diff --git a/main/modules/motor_axis.cpp b/main/modules/motor_axis.cpp
@@ -2,6 +2,8 @@
 #include "utils/uart.h"
 #include <stdexcept>
 
+REGISTER_MODULE_DEFAULTS(MotorAxis)
+
 const std::map<std::string, Variable_ptr> MotorAxis::get_defaults() {
     return {};
 }
diff --git a/main/modules/odrive_motor.cpp b/main/modules/odrive_motor.cpp
@@ -2,6 +2,8 @@
 #include <cstring>
 #include <memory>
 
+REGISTER_MODULE_DEFAULTS(ODriveMotor)
+
 const std::map<std::string, Variable_ptr> ODriveMotor::get_defaults() {
     return {
         {"position", std::make_shared<NumberVariable>()},
diff --git a/main/modules/odrive_wheels.cpp b/main/modules/odrive_wheels.cpp
@@ -2,6 +2,8 @@
 #include "../utils/timing.h"
 #include <memory>
 
+REGISTER_MODULE_DEFAULTS(ODriveWheels)
+
 const std::map<std::string, Variable_ptr> ODriveWheels::get_defaults() {
     return {
         {"width", std::make_shared<NumberVariable>(1.0)},
diff --git a/main/modules/output.cpp b/main/modules/output.cpp
@@ -3,6 +3,8 @@
 #include <math.h>
 #include <stdexcept>
 
+REGISTER_MODULE_DEFAULTS(Output)
+
 const std::map<std::string, Variable_ptr> Output::get_defaults() {
     return {
         {"level", std::make_shared<IntegerVariable>()},
diff --git a/main/modules/proxy.cpp b/main/modules/proxy.cpp
@@ -17,7 +17,7 @@ Proxy::Proxy(const std::string name,
         this->expander->send_proxy(name, module_type, arguments);
         this->properties["is_ready"]->boolean_value = true;
     } else {
-        // TODO: error code handling
+        echo("%s: Expander not ready", this->name.c_str());
     }
 }
 
diff --git a/main/modules/pwm_output.cpp b/main/modules/pwm_output.cpp
@@ -1,6 +1,8 @@
 #include "pwm_output.h"
 #include <driver/ledc.h>
 
+REGISTER_MODULE_DEFAULTS(PwmOutput)
+
 const std::map<std::string, Variable_ptr> PwmOutput::get_defaults() {
     return {
         {"frequency", std::make_shared<IntegerVariable>(1000)},
diff --git a/main/modules/rmd_motor.cpp b/main/modules/rmd_motor.cpp
@@ -6,6 +6,8 @@
 #include <math.h>
 #include <memory>
 
+REGISTER_MODULE_DEFAULTS(RmdMotor)
+
 const std::map<std::string, Variable_ptr> RmdMotor::get_defaults() {
     return {
         {"position", std::make_shared<NumberVariable>()},
diff --git a/main/modules/rmd_pair.cpp b/main/modules/rmd_pair.cpp
@@ -3,6 +3,8 @@
 #include "utils/uart.h"
 #include <math.h>
 
+REGISTER_MODULE_DEFAULTS(RmdPair)
+
 const std::map<std::string, Variable_ptr> RmdPair::get_defaults() {
     return {
         {"v_max", std::make_shared<NumberVariable>(360)},
diff --git a/main/modules/roboclaw.cpp b/main/modules/roboclaw.cpp
@@ -5,6 +5,8 @@
 #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
 
+REGISTER_MODULE_DEFAULTS(RoboClaw)
+
 const std::map<std::string, Variable_ptr> RoboClaw::get_defaults() {
     return {
         {"temperature", std::make_shared<NumberVariable>()},
diff --git a/main/modules/roboclaw_motor.cpp b/main/modules/roboclaw_motor.cpp
@@ -4,6 +4,8 @@
 
 #define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
 
+REGISTER_MODULE_DEFAULTS(RoboClawMotor)
+
 const std::map<std::string, Variable_ptr> RoboClawMotor::get_defaults() {
     return {
         {"position", std::make_shared<IntegerVariable>()},
diff --git a/main/modules/roboclaw_wheels.cpp b/main/modules/roboclaw_wheels.cpp
@@ -2,6 +2,8 @@
 #include "../utils/timing.h"
 #include <memory>
 
+REGISTER_MODULE_DEFAULTS(RoboClawWheels)
+
 const std::map<std::string, Variable_ptr> RoboClawWheels::get_defaults() {
     return {
         {"width", std::make_shared<NumberVariable>(1)},
diff --git a/main/modules/serial.cpp b/main/modules/serial.cpp
@@ -9,6 +9,8 @@
 #define TX_BUF_SIZE 2048
 #define UART_PATTERN_QUEUE_SIZE 100
 
+REGISTER_MODULE_DEFAULTS(Serial)
+
 const std::map<std::string, Variable_ptr> Serial::get_defaults() {
     return {};
 }
diff --git a/main/modules/stepper_motor.cpp b/main/modules/stepper_motor.cpp
@@ -13,6 +13,8 @@
 
 #define MIN_SPEED 490
 
+REGISTER_MODULE_DEFAULTS(StepperMotor)
+
 const std::map<std::string, Variable_ptr> StepperMotor::get_defaults() {
     return {
         {"position", std::make_shared<IntegerVariable>()},

Original file line number	Diff line number	Diff line change
`@@ -1,6 +1,8 @@`
`1`	`1`	`#include "bluetooth.h"`
`2`	`2`	`#include "uart.h"`
`3`	`3`
	`4`	`+REGISTER_MODULE_DEFAULTS(Bluetooth)`
	`5`	`+`
`4`	`6`	`const std::map<std::string, Variable_ptr> Bluetooth::get_defaults() {`
`5`	`7`	`return {};`
`6`	`8`	`}`