mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-20 23:33:35 +08:00
module_base: remove CRTP template pattern to reduce flash bloat (#26476)
* module_base: claude rewrite to remove CRTP bloat * module_base: apply to all drivers/modules * format * fix build errors * fix missing syntax * remove reference to module.h in files that need module_base.h * remove old ModuleBase<T> * add module_base.cpp to px4_protected_layers.cmake * fix IridiumSBD can_stop() * fix IridiumSBD.cpp * clang-tidy: downcast static cast * get_instance() template accessor, revert clang-tidy global * rename module_base.h to module.h * revert changes in zenoh/Kconfig.topics
This commit is contained in:
Jacob Dahl
@@ -43,220 +43,6 @@
|
||||
|
||||
#include "rclcpp/rclcpp.hpp"
|
||||
|
||||
/**
|
||||
* @class ModuleBase
|
||||
* Base class for modules, implementing common functionality,
|
||||
* such as 'start', 'stop' and 'status' commands.
|
||||
* Currently does not support modules which allow multiple instances,
|
||||
* such as mavlink.
|
||||
*
|
||||
* The class is implemented as curiously recurring template pattern (CRTP).
|
||||
* It allows to have a static object in the base class that is different for
|
||||
* each module type, and call static methods from the base class.
|
||||
*
|
||||
* @note Required methods for a derived class:
|
||||
* When running in its own thread:
|
||||
* static int task_spawn(int argc, char *argv[])
|
||||
* {
|
||||
* // call px4_task_spawn_cmd() with &run_trampoline as startup method
|
||||
* // optional: wait until _object is not null, which means the task got initialized (use a timeout)
|
||||
* // set _task_id and return 0
|
||||
* // on error return != 0 (and _task_id must be -1)
|
||||
* }
|
||||
*
|
||||
* static T *instantiate(int argc, char *argv[])
|
||||
* {
|
||||
* // this is called from within the new thread, from run_trampoline()
|
||||
* // parse the arguments
|
||||
* // create a new object T & return it
|
||||
* // or return nullptr on error
|
||||
* }
|
||||
*
|
||||
* static int custom_command(int argc, char *argv[])
|
||||
* {
|
||||
* // support for custom commands
|
||||
* // if none are supported, just do:
|
||||
* return print_usage("unrecognized command");
|
||||
* }
|
||||
*
|
||||
* static int print_usage(const char *reason = nullptr)
|
||||
* {
|
||||
* // use the PRINT_MODULE_* methods...
|
||||
* }
|
||||
*
|
||||
* When running on the work queue:
|
||||
* - custom_command & print_usage as above
|
||||
* static int task_spawn(int argc, char *argv[]) {
|
||||
* // parse the arguments
|
||||
* // set _object (here or from the work_queue() callback)
|
||||
* // call work_queue() (with a custom cycle trampoline)
|
||||
* // optional: wait until _object is not null, which means the task got initialized (use a timeout)
|
||||
* // set _task_id to task_id_is_work_queue and return 0
|
||||
* // on error return != 0 (and _task_id must be -1)
|
||||
* }
|
||||
*/
|
||||
template<class T>
|
||||
class ModuleBase : public rclcpp::Node
|
||||
{
|
||||
public:
|
||||
ModuleBase() : Node(MODULE_NAME)
|
||||
{
|
||||
|
||||
RCLCPP_INFO(get_logger(), "constructing %lu", hrt_absolute_time());
|
||||
}
|
||||
|
||||
virtual ~ModuleBase() {}
|
||||
|
||||
/**
|
||||
* @brief main Main entry point to the module that should be
|
||||
* called directly from the module's main method.
|
||||
* @param argc The task argument count.
|
||||
* @param argc Pointer to the task argument variable array.
|
||||
* @return Returns 0 iff successful, -1 otherwise.
|
||||
*/
|
||||
static int main(int argc, char *argv[])
|
||||
{
|
||||
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Print the status if the module is running. This can be overridden by the module to provide
|
||||
* more specific information.
|
||||
* @return Returns 0 iff successful, -1 otherwise.
|
||||
*/
|
||||
virtual int print_status()
|
||||
{
|
||||
PX4_INFO("running");
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Main loop method for modules running in their own thread. Called from run_trampoline().
|
||||
* This method must return when should_exit() returns true.
|
||||
*/
|
||||
virtual void run()
|
||||
{
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Returns the status of the module.
|
||||
* @return Returns true if the module is running, false otherwise.
|
||||
*/
|
||||
static bool is_running()
|
||||
{
|
||||
return _task_id != -1;
|
||||
}
|
||||
|
||||
protected:
|
||||
|
||||
/**
|
||||
* @brief Tells the module to stop (used from outside or inside the module thread).
|
||||
*/
|
||||
virtual void request_stop()
|
||||
{
|
||||
_task_should_exit.store(true);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Checks if the module should stop (used within the module thread).
|
||||
* @return Returns True iff successful, false otherwise.
|
||||
*/
|
||||
bool should_exit() const
|
||||
{
|
||||
return _task_should_exit.load();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Exits the module and delete the object. Called from within the module's thread.
|
||||
* For work queue modules, this needs to be called from the derived class in the
|
||||
* cycle method, when should_exit() returns true.
|
||||
*/
|
||||
static void exit_and_cleanup()
|
||||
{
|
||||
// Take the lock here:
|
||||
// - if startup fails and we're faster than the parent thread, it will set
|
||||
// _task_id and subsequently it will look like the task is running.
|
||||
// - deleting the object must take place inside the lock.
|
||||
lock_module();
|
||||
|
||||
delete _object.load();
|
||||
_object.store(nullptr);
|
||||
|
||||
_task_id = -1; // Signal a potentially waiting thread for the module to exit that it can continue.
|
||||
unlock_module();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Waits until _object is initialized, (from the new thread). This can be called from task_spawn().
|
||||
* @return Returns 0 iff successful, -1 on timeout or otherwise.
|
||||
*/
|
||||
static int wait_until_running(int timeout_ms = 1000)
|
||||
{
|
||||
int i = 0;
|
||||
|
||||
do {
|
||||
px4_usleep(2000);
|
||||
|
||||
} while (!_object.load() && ++i < timeout_ms / 2);
|
||||
|
||||
if (i >= timeout_ms / 2) {
|
||||
PX4_ERR("Timed out while waiting for thread to start");
|
||||
return -1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get the module's object instance, (this is null if it's not running).
|
||||
*/
|
||||
static T *get_instance()
|
||||
{
|
||||
return (T *)_object.load();
|
||||
}
|
||||
|
||||
/**
|
||||
* @var _object Instance if the module is running.
|
||||
* @note There will be one instance for each template type.
|
||||
*/
|
||||
static px4::atomic<T *> _object;
|
||||
|
||||
/** @var _task_id The task handle: -1 = invalid, otherwise task is assumed to be running. */
|
||||
static int _task_id;
|
||||
|
||||
/** @var task_id_is_work_queue Value to indicate if the task runs on the work queue. */
|
||||
static constexpr const int task_id_is_work_queue = -2;
|
||||
|
||||
private:
|
||||
/**
|
||||
* @brief lock_module Mutex to lock the module thread.
|
||||
*/
|
||||
static void lock_module()
|
||||
{
|
||||
pthread_mutex_lock(&px4_modules_mutex);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief unlock_module Mutex to unlock the module thread.
|
||||
*/
|
||||
static void unlock_module()
|
||||
{
|
||||
pthread_mutex_unlock(&px4_modules_mutex);
|
||||
}
|
||||
|
||||
/** @var _task_should_exit Boolean flag to indicate if the task should exit. */
|
||||
px4::atomic_bool _task_should_exit{false};
|
||||
};
|
||||
|
||||
template<class T>
|
||||
px4::atomic<T *> ModuleBase<T>::_object{nullptr};
|
||||
|
||||
template<class T>
|
||||
int ModuleBase<T>::_task_id = -1;
|
||||
|
||||
|
||||
#endif /* __cplusplus */
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user