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module_base: remove CRTP template pattern to reduce flash bloat (#26476)

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* 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
2026-02-19 15:17:17 +13:00
committed by GitHub
parent 657854ae1b
commit ce3e62841f
227 changed files with 1741 additions and 1496 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/actuators/voxl_esc/voxl_esc.cpp
+24 -22
View File
@@ -37,6 +37,8 @@
#include "voxl_esc.hpp"
ModuleBase::Descriptor VoxlEsc::desc{task_spawn, custom_command, print_usage};
// future use:
#define MODALAI_PUBLISH_ESC_STATUS 0
@@ -425,8 +427,8 @@ int VoxlEsc::task_spawn(int argc, char *argv[])
}
if (instance) {
_object.store(instance);
_task_id = task_id_is_work_queue;
desc.object.store(instance);
desc.task_id = task_id_is_work_queue;
if (instance->init() == PX4_OK) {
return PX4_OK;
@@ -439,8 +441,8 @@ int VoxlEsc::task_spawn(int argc, char *argv[])
// This will cause a crash on SLPI DSP
// delete instance;
_object.store(nullptr);
_task_id = -1;
desc.object.store(nullptr);
desc.task_id = -1;
return PX4_ERROR;
}
@@ -693,12 +695,12 @@ int VoxlEsc::custom_command(int argc, char *argv[])
/* start the driver if not running */
if (!strcmp(verb, "start")) {
if (!is_running()) {
if (!is_running(desc)) {
return VoxlEsc::task_spawn(argc, argv);
}
}
if (!is_running()) {
if (!is_running(desc)) {
PX4_INFO("Not running");
return -1;
@@ -761,7 +763,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
PX4_ERR("Reset ESC: %i", esc_id);
cmd.len = qc_esc_create_reset_packet(esc_id, cmd.buf, sizeof(cmd.buf));
cmd.response = false;
return get_instance()->send_cmd_thread_safe(&cmd);
return get_instance<VoxlEsc>(desc)->send_cmd_thread_safe(&cmd);
} else {
print_usage("Invalid ESC ID, use 0-3");
@@ -774,7 +776,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
cmd.len = qc_esc_create_version_request_packet(esc_id, cmd.buf, sizeof(cmd.buf));
cmd.response = true;
cmd.resp_delay_us = 2000;
return get_instance()->send_cmd_thread_safe(&cmd);
return get_instance<VoxlEsc>(desc)->send_cmd_thread_safe(&cmd);
} else {
print_usage("Invalid ESC ID, use 0-3");
@@ -787,7 +789,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
cmd.len = qc_esc_create_extended_version_request_packet(esc_id, cmd.buf, sizeof(cmd.buf));
cmd.response = true;
cmd.resp_delay_us = 5000;
return get_instance()->send_cmd_thread_safe(&cmd);
return get_instance<VoxlEsc>(desc)->send_cmd_thread_safe(&cmd);
} else {
print_usage("Invalid ESC ID, use 0-3");
@@ -799,7 +801,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
PX4_ERR("Request tone for ESC mask: %i", esc_id);
cmd.len = qc_esc_create_sound_packet(period, duration, power, esc_id, cmd.buf, sizeof(cmd.buf));
cmd.response = false;
return get_instance()->send_cmd_thread_safe(&cmd);
return get_instance<VoxlEsc>(desc)->send_cmd_thread_safe(&cmd);
} else {
print_usage("Invalid ESC ID, use 0-3");
@@ -808,14 +810,14 @@ int VoxlEsc::custom_command(int argc, char *argv[])
} else if (!strcmp(verb, "led")) {
if (led_mask <= 0x0FFF) {
get_instance()->_led_rsc.test = true;
get_instance()->_led_rsc.breath_en = false;
get_instance<VoxlEsc>(desc)->_led_rsc.test = true;
get_instance<VoxlEsc>(desc)->_led_rsc.breath_en = false;
PX4_ERR("Request LED control for ESCs with mask: %i", led_mask);
get_instance()->_esc_chans[0].led = (led_mask & 0x0007);
get_instance()->_esc_chans[1].led = (led_mask & 0x0038) >> 3;
get_instance()->_esc_chans[2].led = (led_mask & 0x01C0) >> 6;
get_instance()->_esc_chans[3].led = (led_mask & 0x0E00) >> 9;
get_instance<VoxlEsc>(desc)->_esc_chans[0].led = (led_mask & 0x0007);
get_instance<VoxlEsc>(desc)->_esc_chans[1].led = (led_mask & 0x0038) >> 3;
get_instance<VoxlEsc>(desc)->_esc_chans[2].led = (led_mask & 0x01C0) >> 6;
get_instance<VoxlEsc>(desc)->_esc_chans[3].led = (led_mask & 0x0E00) >> 9;
return 0;
} else {
@@ -851,7 +853,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
id_fb,
cmd.buf,
sizeof(cmd.buf),
get_instance()->_extended_rpm);
get_instance<VoxlEsc>(desc)->_extended_rpm);
cmd.response = true;
cmd.repeats = repeat_count;
@@ -862,7 +864,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
PX4_ERR("Feedback id debug: %i", id_fb);
PX4_ERR("Sending UART ESC RPM command %i", rate);
return get_instance()->send_cmd_thread_safe(&cmd);
return get_instance<VoxlEsc>(desc)->send_cmd_thread_safe(&cmd);
} else {
print_usage("Invalid ESC ID, use 0-3");
@@ -907,7 +909,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
PX4_ERR("Feedback id debug: %i", id_fb);
PX4_ERR("Sending UART ESC power command %i", rate);
return get_instance()->send_cmd_thread_safe(&cmd);
return get_instance<VoxlEsc>(desc)->send_cmd_thread_safe(&cmd);
} else {
print_usage("Invalid ESC ID, use 0-3");
@@ -1422,7 +1424,7 @@ void VoxlEsc::Run()
ScheduleClear();
_mixing_output.unregister();
exit_and_cleanup();
exit_and_cleanup(desc);
return;
}
@@ -1446,7 +1448,7 @@ void VoxlEsc::Run()
PX4_ERR("Failed to initialize device, exiting the module");
ScheduleClear();
_mixing_output.unregister();
exit_and_cleanup();
exit_and_cleanup(desc);
return;
}
@@ -1767,5 +1769,5 @@ extern "C" __EXPORT int voxl_esc_main(int argc, char *argv[]);
int voxl_esc_main(int argc, char *argv[])
{
return VoxlEsc::main(argc, argv);
return ModuleBase::main(VoxlEsc::desc, argc, argv);
}
src/drivers/actuators/voxl_esc/voxl_esc.hpp
+3 -1
View File
@@ -58,9 +58,11 @@
using namespace device;
class VoxlEsc : public ModuleBase<VoxlEsc>, public OutputModuleInterface
class VoxlEsc : public ModuleBase, public OutputModuleInterface
{
public:
static Descriptor desc;
VoxlEsc();
virtual ~VoxlEsc();