update module registration mechanism

RaccoonlabDev · Aug 10, 2024 · 21fb0e6 · 21fb0e6
1 parent 43a9991
commit 21fb0e6
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Showing 8 changed files with 22 additions and 7 deletions.
diff --git a/Src/common/module.hpp b/Src/common/module.hpp
@@ -96,4 +96,19 @@ class ModuleManager {
     static inline uint8_t modules_amount{0};
 };
 
+/**
+ * @brief Register module
+ * This macro defines a static instance of a Module child with a unique name in an anonymous
+ * namespace. It ensures that each module instance is unique within its translation unit,
+ * preventing naming collisions.
+ * Once a module is registered, his pointer is added to ModuleManager where it is automatically
+ * handled.
+ */
+#define UNIQUE_NAME_CONCATENATE(x, y) x##y
+#define UNIQUE_NAME(x) UNIQUE_NAME_CONCATENATE(x, __COUNTER__)
+#define REGISTER_MODULE(ModuleClass) \
+namespace { \
+    static ModuleClass UNIQUE_NAME(moduleInstance); \
+}
+
 #endif  // SRC_COMMON_MODULE_HPP_
diff --git a/Src/modules/cyphal/circuit_status/circuit_status.cpp b/Src/modules/cyphal/circuit_status/circuit_status.cpp
@@ -13,7 +13,7 @@
 #include "uavcan/si/sample/voltage/Scalar_1_0.h"
 #include "uavcan/si/sample/temperature/Scalar_1_0.h"
 
-static CircuitStatus crct;
+REGISTER_MODULE(CircuitStatus)
 
 void CircuitStatus::init() {
     health = Status::OK;

diff --git a/Src/modules/cyphal/core/cyphal_module.cpp b/Src/modules/cyphal/core/cyphal_module.cpp
@@ -10,7 +10,7 @@
 #include "params.hpp"
 #include "periphery/adc/circuit_periphery.hpp"
 
-static CyphalModule cyphal_module;
+REGISTER_MODULE(CyphalModule)
 
 CyphalModule::CyphalModule() : Module(0) {
 }

diff --git a/Src/modules/cyphal/feedback/feedback.cpp b/Src/modules/cyphal/feedback/feedback.cpp
@@ -10,7 +10,7 @@
 #include "params.hpp"
 #include "periphery/pwm/pwm.hpp"
 
-static FeedbackModule feedback;
+REGISTER_MODULE(FeedbackModule)
 
 void FeedbackPublisher::publish() {
     uint8_t buffer[reg_udral_service_actuator_common_Feedback_0_1_EXTENT_BYTES_];

diff --git a/Src/modules/cyphal/setpoint/setpoint.cpp b/Src/modules/cyphal/setpoint/setpoint.cpp
@@ -11,7 +11,7 @@
 #include "params.hpp"
 #include "periphery/pwm/pwm.hpp"
 
-static SetpointModule setpoint;
+REGISTER_MODULE(SetpointModule)
 
 int8_t SetpointSubscriber::init() {
     port_id = static_cast<uint16_t>(paramsGetIntegerValue(IntParamsIndexes::PARAM_SUB_SETPOINT_ID));

diff --git a/Src/modules/dronecan/circuit_status/CircuitStatusModule.cpp b/Src/modules/dronecan/circuit_status/CircuitStatusModule.cpp
@@ -6,7 +6,7 @@
 #include "CircuitStatusModule.hpp"
 #include "periphery/adc/circuit_periphery.hpp"
 
-static CircuitStatus circuit_status_module;
+REGISTER_MODULE(CircuitStatus)
 
 void CircuitStatus::init() {
     mode = Module::Mode::OPERATIONAL;

diff --git a/Src/modules/dronecan/core/dronecan_module.cpp b/Src/modules/dronecan/core/dronecan_module.cpp
@@ -10,7 +10,7 @@
 #include "dronecan.h"
 #include "periphery/adc/circuit_periphery.hpp"
 
-static DronecanModule dronecan_module;
+REGISTER_MODULE(DronecanModule)
 
 DronecanModule::DronecanModule() : Module(0) {
 }

diff --git a/Src/modules/dronecan/pwm/PWMModule.cpp b/Src/modules/dronecan/pwm/PWMModule.cpp
@@ -32,7 +32,7 @@ uint16_t PWMModule::ttl_cmd = 500;
 uint16_t PWMModule::pwm_freq = 50;
 CommandType PWMModule::pwm_cmd_type = CommandType::RAW_COMMAND;
 
-static PWMModule pwm_module;
+REGISTER_MODULE(PWMModule)
 
 std::array<PwmChannelInfo, static_cast<uint8_t>(HAL::PwmPin::PWM_AMOUNT)> PWMModule::params = {{
     {{.min = MIN(1), .max = MAX(1), .def = DEF(1), .ch = CH(1), .fb = FB(1)}, HAL::PwmPin::PWM_1},