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convert SimpleFOCRegisters from singleton to namespace to save memory when unused #93

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convert SimpleFOCRegisters from singleton to namespace to save memory when unused #93

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18 changes: 4 additions & 14 deletions src/comms/SimpleFOCRegisters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,10 +4,8 @@
#include "communication/SimpleFOCDebug.h"
#include "./telemetry/Telemetry.h"


SimpleFOCRegisters::SimpleFOCRegisters(){};
SimpleFOCRegisters::~SimpleFOCRegisters(){};

CustomRegisterHandler* customRegisters[MAX_CUSTOM_REGISTERS] = {nullptr};
uint8_t customRegisterCount = 0;

// write the register value(s) for the given motor to the given comms object
bool SimpleFOCRegisters::registerToComms(RegisterIO& comms, uint8_t reg, FOCMotor* motor){
Expand Down Expand Up @@ -75,12 +73,7 @@ bool SimpleFOCRegisters::registerToComms(RegisterIO& comms, uint8_t reg, FOCMoto
case SimpleFOCRegister::REG_TELEMETRY_REG:
if (Telemetry::num_telemetry > 0){
Telemetry* telemetry = Telemetry::telemetries[Telemetry::telemetry_ctrl];
comms << telemetry->numRegisters;
for (uint8_t i=0; i<telemetry->numRegisters; i++) {
comms << telemetry->registers_motor[i];
comms << telemetry->registers[i];
}
telemetry->headerSent = false;
telemetry->registerToComms(comms);
}
else {
comms << (uint32_t)0;
Expand Down Expand Up @@ -700,7 +693,7 @@ uint8_t SimpleFOCRegisters::sizeOfRegister(uint8_t reg){
case SimpleFOCRegister::REG_TELEMETRY_REG:
if (Telemetry::num_telemetry > 0) {
Telemetry* telemetry = Telemetry::telemetries[Telemetry::telemetry_ctrl];
return 2*telemetry->numRegisters + 1;
return telemetry->sizeOfRegister();
}
else
return 1;
Expand Down Expand Up @@ -743,6 +736,3 @@ bool SimpleFOCRegisters::addCustomRegister(uint8_t reg, uint8_t size, RegisterRe
customRegisters[customRegisterCount++] = new CustomRegisterHandler{reg, size, readHandler, writeHandler};
return true;
}


SimpleFOCRegisters* SimpleFOCRegisters::regs = new SimpleFOCRegisters();
16 changes: 4 additions & 12 deletions src/comms/SimpleFOCRegisters.h
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Expand Up @@ -117,19 +117,11 @@ struct CustomRegisterHandler {
};


class SimpleFOCRegisters {
public:
SimpleFOCRegisters();
virtual ~SimpleFOCRegisters();
virtual uint8_t sizeOfRegister(uint8_t reg);
virtual bool registerToComms(RegisterIO& comms, uint8_t reg, FOCMotor* motor);
virtual bool commsToRegister(RegisterIO& comms, uint8_t reg, FOCMotor* motor);

static SimpleFOCRegisters* regs;
namespace SimpleFOCRegisters {
uint8_t sizeOfRegister(uint8_t reg);
bool registerToComms(RegisterIO& comms, uint8_t reg, FOCMotor* motor);
bool commsToRegister(RegisterIO& comms, uint8_t reg, FOCMotor* motor);

// Method to add custom register handlers
bool addCustomRegister(uint8_t reg, uint8_t size, RegisterReadHandler readHandler, RegisterWriteHandler writeHandler);
protected:
CustomRegisterHandler* customRegisters[MAX_CUSTOM_REGISTERS] = {nullptr};
uint8_t customRegisterCount = 0;
};
4 changes: 2 additions & 2 deletions src/comms/can/CANCommander.cpp
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Expand Up @@ -116,7 +116,7 @@ void CANCommander::sendRegisterResponse(uint8_t reg, uint8_t dest_addr) {
}

bool CANCommander::commsToRegister(uint8_t reg) {
return SimpleFOCRegisters::regs->commsToRegister(*this, reg, motors[curMotor]);
return SimpleFOCRegisters::commsToRegister(*this, reg, motors[curMotor]);
}

bool CANCommander::registerToComms(uint8_t reg) {
Expand All @@ -136,7 +136,7 @@ bool CANCommander::registerToComms(uint8_t reg) {
commanderror = true;
return false;
}
return SimpleFOCRegisters::regs->registerToComms(*this, reg, motors[curMotor]);
return SimpleFOCRegisters::registerToComms(*this, reg, motors[curMotor]);
}
}

Expand Down
2 changes: 1 addition & 1 deletion src/comms/can/CANCommander.h
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Expand Up @@ -61,7 +61,7 @@ class CANCommander : public RegisterIO
bool addCustomRegister(uint8_t reg, uint8_t size,
RegisterReadHandler readHandler,
RegisterWriteHandler writeHandler) {
return SimpleFOCRegisters::regs->addCustomRegister(reg, size, readHandler, writeHandler);
return SimpleFOCRegisters::addCustomRegister(reg, size, readHandler, writeHandler);
}

protected:
Expand Down
6 changes: 3 additions & 3 deletions src/comms/i2c/I2CCommander.cpp
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Expand Up @@ -129,7 +129,7 @@ bool I2CCommander::receiveRegister(uint8_t motorNum, uint8_t registerNum, int nu
(val>0)?motors[i]->enable():motors[i]->disable();
break;
default: // unknown register
return SimpleFOCRegisters::regs->commsToRegister(*this, registerNum, motors[motorNum]);
return SimpleFOCRegisters::commsToRegister(*this, registerNum, motors[motorNum]);
}
return true;
}
Expand Down Expand Up @@ -171,7 +171,7 @@ bool I2CCommander::sendRegister(uint8_t motorNum, uint8_t registerNum) {
break;
case I2CCOMMANDER_REG_REPORT:
for (int i=0;i<numReportRegisters;i++)
SimpleFOCRegisters::regs->registerToComms(*this, reportRegisters[i], motors[reportMotors[i]]); // send any normal register
SimpleFOCRegisters::registerToComms(*this, reportRegisters[i], motors[reportMotors[i]]); // send any normal register
break;
case REG_NUM_MOTORS:
_wire->write(numMotors);
Expand All @@ -181,7 +181,7 @@ bool I2CCommander::sendRegister(uint8_t motorNum, uint8_t registerNum) {
return false;
// unknown register - not handled here
default:
return SimpleFOCRegisters::regs->registerToComms(*this, registerNum, motors[motorNum]);
return SimpleFOCRegisters::registerToComms(*this, registerNum, motors[motorNum]);
}
return true;
}
6 changes: 3 additions & 3 deletions src/comms/streams/PacketCommander.cpp
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Expand Up @@ -74,7 +74,7 @@ void PacketCommander::handleRegisterPacket(bool write, uint8_t reg) {
commanderror = commanderror || !ok;
}
if (!write || echo) {
uint8_t size = SimpleFOCRegisters::regs->sizeOfRegister(reg);
uint8_t size = SimpleFOCRegisters::sizeOfRegister(reg);
if (size > 0) { // sendable register
*_io << START_PACKET(PacketType::RESPONSE, size+1) << reg << Separator('=');
// TODO status?
Expand All @@ -98,7 +98,7 @@ bool PacketCommander::commsToRegister(uint8_t reg){
curMotor = val;
return true;
default:
return SimpleFOCRegisters::regs->commsToRegister(*_io, reg, motors[curMotor]);
return SimpleFOCRegisters::commsToRegister(*_io, reg, motors[curMotor]);
}
};

Expand All @@ -116,6 +116,6 @@ bool PacketCommander::registerToComms(uint8_t reg){
*_io << numMotors;
return true;
default:
return SimpleFOCRegisters::regs->registerToComms(*_io, reg, motors[curMotor]);
return SimpleFOCRegisters::registerToComms(*_io, reg, motors[curMotor]);
}
};
2 changes: 1 addition & 1 deletion src/comms/telemetry/SimpleTelemetry.cpp
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Expand Up @@ -19,7 +19,7 @@ void SimpleTelemetry::init(TextIO& _comms){
void SimpleTelemetry::sendTelemetry(){
if (numRegisters > 0) {
for (uint8_t i = 0; i < numRegisters; i++) {
SimpleFOCRegisters::regs->registerToComms(*comms, registers[i], motors[registers_motor[i]]);
SimpleFOCRegisters::registerToComms(*comms, registers[i], motors[registers_motor[i]]);
if (i<numRegisters-1) *comms << '\t';
};
*comms << '\n';
Expand Down
21 changes: 16 additions & 5 deletions src/comms/telemetry/Telemetry.cpp
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Expand Up @@ -42,9 +42,6 @@ void Telemetry::init(PacketIO& _comms) {
}
this->id = Telemetry::num_telemetry++;
headerSent = false;
if (SimpleFOCRegisters::regs == NULL) {
SimpleFOCRegisters::regs = new SimpleFOCRegisters();
}
};


Expand Down Expand Up @@ -87,7 +84,21 @@ void Telemetry::addMotor(FOCMotor* motor) {
}
};

uint8_t Telemetry::sizeOfRegister() const
{
return 2*numRegisters + 1;
}

bool Telemetry::registerToComms(RegisterIO& comms)
{
comms << numRegisters;
for (uint8_t i=0; i<numRegisters; i++) {
comms << registers_motor[i];
comms << registers[i];
}
headerSent = false;
return true;
}

void Telemetry::sendHeader() {
if (numRegisters > 0) {
Expand All @@ -105,11 +116,11 @@ void Telemetry::sendTelemetry(){
if (numRegisters > 0) {
uint8_t size = 1;
for (uint8_t i = 0; i < numRegisters; i++) {
size += SimpleFOCRegisters::regs->sizeOfRegister(registers[i]);
size += SimpleFOCRegisters::sizeOfRegister(registers[i]);
}
*comms << START_PACKET(PacketType::TELEMETRY, size) << id << Separator('=');
for (uint8_t i = 0; i < numRegisters; i++) {
SimpleFOCRegisters::regs->registerToComms(*comms, registers[i], motors[registers_motor[i]]);
SimpleFOCRegisters::registerToComms(*comms, registers[i], motors[registers_motor[i]]);
};
*comms << END_PACKET;
}
Expand Down
3 changes: 2 additions & 1 deletion src/comms/telemetry/Telemetry.h
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Expand Up @@ -30,7 +30,6 @@ typedef enum : uint8_t {


class Telemetry {
friend class SimpleFOCRegisters;
public:
Telemetry();
virtual ~Telemetry();
Expand All @@ -47,6 +46,8 @@ class Telemetry {
static uint8_t num_telemetry;
static uint8_t telemetry_ctrl;
static Telemetry* telemetries[];
uint8_t sizeOfRegister() const;
bool registerToComms(RegisterIO& comms);
protected:
virtual void sendTelemetry();
virtual void sendHeader();
Expand Down
2 changes: 1 addition & 1 deletion src/comms/telemetry/TeleplotTelemetry.cpp
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Expand Up @@ -24,7 +24,7 @@ void TeleplotTelemetry::sendTelemetry(){
*comms << registers_motor[i] << '_';
}
*comms << registers[i] << ':';
SimpleFOCRegisters::regs->registerToComms(*comms, registers[i], motors[registers_motor[i]]);
SimpleFOCRegisters::registerToComms(*comms, registers[i], motors[registers_motor[i]]);
*comms << '\n';
};
}
Expand Down
4 changes: 2 additions & 2 deletions src/settings/SettingsStorage.cpp
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Expand Up @@ -70,7 +70,7 @@ SettingsStatus SettingsStorage::loadSettings() {
for (int i = 0; i < numRegisters; i++) {
SimpleFOCRegister reg = registers[i];
startLoadRegister(reg);
SimpleFOCRegisters::regs->commsToRegister(*_io, reg, motors[m]);
SimpleFOCRegisters::commsToRegister(*_io, reg, motors[m]);
endLoadRegister();
}
endLoadMotor();
Expand All @@ -94,7 +94,7 @@ SettingsStatus SettingsStorage::saveSettings() {
for (int i = 0; i < numRegisters; i++) {
SimpleFOCRegister reg = registers[i];
startSaveRegister(reg);
SimpleFOCRegisters::regs->registerToComms(*_io, reg, motors[m]);
SimpleFOCRegisters::registerToComms(*_io, reg, motors[m]);
endSaveRegister();
}
endSaveMotor();
Expand Down
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