From 805a63998bf318d7cd253095883b52a6f07c6c66 Mon Sep 17 00:00:00 2001
From: AsiiaPine <asiiapine@gmail.com>
Date: Wed, 19 Jun 2024 12:18:18 +0300
Subject: [PATCH] fix the moduleclass usage issues

---
 .../circuit_status/CircuitStatusModule.cpp     |  1 -
 .../circuit_status/CircuitStatusModule.hpp     |  2 --
 .../modules/pwm/PWMModule.cpp                  | 18 ++++++++----------
 .../modules/pwm/PWMModule.hpp                  | 11 ++++++-----
 4 files changed, 14 insertions(+), 18 deletions(-)

diff --git a/Src/dronecan_application/modules/circuit_status/CircuitStatusModule.cpp b/Src/dronecan_application/modules/circuit_status/CircuitStatusModule.cpp
index 0e2f625..e08f09b 100644
--- a/Src/dronecan_application/modules/circuit_status/CircuitStatusModule.cpp
+++ b/Src/dronecan_application/modules/circuit_status/CircuitStatusModule.cpp
@@ -6,7 +6,6 @@
 #include "CircuitStatusModule.hpp"
 
 
-bool CircuitStatus::instance_initialized = false;
 Logger CircuitStatus::logger = Logger("CircuitStatus");
 
 void CircuitStatus::init() {
diff --git a/Src/dronecan_application/modules/circuit_status/CircuitStatusModule.hpp b/Src/dronecan_application/modules/circuit_status/CircuitStatusModule.hpp
index 3b52c02..f9be466 100644
--- a/Src/dronecan_application/modules/circuit_status/CircuitStatusModule.hpp
+++ b/Src/dronecan_application/modules/circuit_status/CircuitStatusModule.hpp
@@ -21,8 +21,6 @@ class CircuitStatus : public Module {
 protected:
     void spin_once() override;
 
-    static bool instance_initialized;
-
 private:
     CircuitStatus_t circuit_status = {};
     Temperature_t temperature_status = {};
diff --git a/Src/dronecan_application/modules/pwm/PWMModule.cpp b/Src/dronecan_application/modules/pwm/PWMModule.cpp
index f6a3fc6..2fb2eaf 100644
--- a/Src/dronecan_application/modules/pwm/PWMModule.cpp
+++ b/Src/dronecan_application/modules/pwm/PWMModule.cpp
@@ -56,13 +56,6 @@ void PWMModule::init() {
 void PWMModule::spin_once() {
     uint32_t crnt_time_ms = HAL_GetTick();
 
-    static uint32_t next_update_ms = 0;
-    if (crnt_time_ms > next_update_ms) {
-        next_update_ms = crnt_time_ms + 1000;
-        update_params();
-        apply_params();
-    }
-
     mode = Module::Mode::OPEARTIONAL;
     for (auto& pwm : params) {
         if (crnt_time_ms > pwm.cmd_end_time_ms) {
@@ -105,7 +98,9 @@ void PWMModule::update_params() {
             params_error = true;
             break;
     }
-
+    if (health != Status::OK&& HAL_GetTick() %1000 == 0) {
+        logger.log_info("102");
+    }
     static uint32_t last_warn_pub_time_ms = 0;
     for (int i = 0; i < static_cast<uint8_t>(PwmPin::PWM_AMOUNT); i++) {
         params[i].fb = paramsGetIntegerValue(params[i].names.fb);
@@ -129,11 +124,14 @@ void PWMModule::update_params() {
             logger.log_debug("check parameters");
         }
     }
+    if (health != Status::OK && HAL_GetTick() %1000 == 0) {
+        logger.log_info("128");
+    }
+    apply_params();
+    mode = Mode::OPEARTIONAL;
 }
 
 void PWMModule::apply_params() {
-    mode = Mode::MAINTENANCE;
-
     for (int i = 0; i < static_cast<uint8_t>(PwmPin::PWM_AMOUNT); i++) {
         if (PwmPeriphery::get_frequency(params[i].pin) != pwm_freq) {
             PwmPeriphery::set_frequency(params[i].pin, pwm_freq);
diff --git a/Src/dronecan_application/modules/pwm/PWMModule.hpp b/Src/dronecan_application/modules/pwm/PWMModule.hpp
index 36f2815..17f33ed 100644
--- a/Src/dronecan_application/modules/pwm/PWMModule.hpp
+++ b/Src/dronecan_application/modules/pwm/PWMModule.hpp
@@ -48,9 +48,10 @@ struct PwmChannelInfo {
 
 class PWMModule : public Module {
 public:
-    PWMModule() : Module(2) {}
     void init() override;
 
+    inline PWMModule() : Module(50) {}
+
 protected:
     void update_params() override;
     void spin_once() override;
@@ -58,8 +59,8 @@ class PWMModule : public Module {
     static std::array<PwmChannelInfo, static_cast<uint8_t>(PwmPin::PWM_AMOUNT)> params;
 
 private:
-    void (*callback)(CanardRxTransfer*);
-    void (*publish_state)();
+    void (*callback)(CanardRxTransfer*) = {};
+    void (*publish_state)() = {};
 
     void update_pwm();
     void apply_params();
@@ -78,8 +79,8 @@ class PWMModule : public Module {
     static CommandType pwm_cmd_type;
 
     static uint16_t ttl_cmd;
-    uint16_t status_pub_timeout_ms;
-    bool verbose;
+    uint16_t status_pub_timeout_ms = 0;
+    bool verbose = false;
 
     static bool publish_error;
     static Logger logger;