replay: use module base class & add module documentation

src/modules/replay/replay.hpp

@@ -41,6 +41,7 @@
 
 #include "definitions.hpp"
 
+#include <px4_module.h>
 #include <uORB/uORBTopics.h>
 #include <uORB/topics/ekf2_timestamps.h>
 
@@ -54,26 +55,34 @@ namespace px4
  * to replay. This is necessary because data messages from different subscriptions don't need to be in
  * monotonic increasing order.
  */
-class Replay
+class Replay : public ModuleBase<Replay>
 {
 public:
-	Replay();
+	Replay() {}
 
-	/// Destructor, also waits for task exit
-	virtual ~Replay();
+	virtual ~Replay() {}
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static Replay *instantiate(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	/** @see ModuleBase::run() */
+	void run() override;
 
 	/**
-	 * Start task.
-	 * @param quiet silently fail if no log file found
-	 * @param apply_params_only if true, only apply parameters from definitions section of the file
-	 *                          and user-overridden parameters, then exit w/o replaying.
-	 * @return OK on success.
+	 * Apply the parameters from the log
+	 * @param quiet do not print an error if true and no log file given via ENV
+	 * @return 0 on success
 	 */
-	static int		start(bool quiet, bool apply_params_only);
-
-	static void	task_main_trampoline(int argc, char *argv[]);
-
-	void		task_main();
+	static int applyParams(bool quiet);
 
 	/**
 	 * Tell the replay module that we want to use replay mode.
@@ -158,7 +167,6 @@ protected:
 	std::vector<uint8_t> _read_buffer;
 
 private:
-	bool _task_should_exit = false;
 	std::set<std::string> _overridden_params;
 	std::map<std::string, std::string> _file_formats; ///< all formats we read from the file