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

src/drivers/ins/eulernav_bahrs/eulernav_bahrs_main.cpp

@@ -43,6 +43,6 @@
 
 extern "C" __EXPORT int eulernav_bahrs_main(int argc, char *argv[])
 {
-	EulerNavDriver::main(argc, argv);
+	ModuleBase::main(EulerNavDriver::desc, argc, argv);
 	return OK;
 }

src/drivers/ins/eulernav_bahrs/eulernav_driver.cpp

@@ -52,20 +52,27 @@ EulerNavDriver::~EulerNavDriver()
 	deinitialize();
 }
 
+int EulerNavDriver::run_trampoline(int argc, char *argv[])
+{
+	return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
+		return EulerNavDriver::instantiate(ac, av);
+	}, argc, argv);
+}
+
 int EulerNavDriver::task_spawn(int argc, char *argv[])
 {
 	int task_id = px4_task_spawn_cmd("bahrs", SCHED_DEFAULT, SCHED_PRIORITY_FAST_DRIVER,
 					 Config::TASK_STACK_SIZE, (px4_main_t)&run_trampoline, argv);
 
 	if (task_id < 0) {
-		_task_id = -1;
+		desc.task_id = -1;
 		PX4_ERR("Failed to spawn task.");
 
 	} else {
-		_task_id = task_id;
+		desc.task_id = task_id;
 	}
 
-	return (_task_id < 0) ? 1 : 0;
+	return (desc.task_id < 0) ? 1 : 0;
 }
 
 EulerNavDriver *EulerNavDriver::instantiate(int argc, char *argv[])
@@ -232,6 +239,8 @@ void EulerNavDriver::deinitialize()
 	_is_initialized = false;
 }
 
+ModuleBase::Descriptor EulerNavDriver::desc{task_spawn, custom_command, print_usage};
+
 void EulerNavDriver::processDataBuffer()
 {
 	static_assert(Config::MIN_MESSAGE_LENGTH >= (sizeof(CSerialProtocol::SMessageHeader) + sizeof(CSerialProtocol::CrcType_t)));

src/drivers/ins/eulernav_bahrs/eulernav_driver.h

@@ -45,9 +45,11 @@
 #include <containers/Array.hpp>
 #include "CSerialProtocol.h"
 
-class EulerNavDriver : public ModuleBase<EulerNavDriver>, public ModuleParams
+class EulerNavDriver : public ModuleBase, public ModuleParams
 {
 public:
+	static Descriptor desc;
+
 	/// @brief Class constructor
 	/// @param device_name Serial port to open
 	EulerNavDriver(const char *device_name);
@@ -57,6 +59,9 @@ public:
 	/// @brief Required by ModuleBase
 	static int task_spawn(int argc, char *argv[]);
 
+	/// @brief Required by ModuleBase
+	static int run_trampoline(int argc, char *argv[]);
+
 	/// @brief Required by ModuleBase
 	static EulerNavDriver *instantiate(int argc, char *argv[]);
 

src/drivers/ins/ilabs/ILabs.cpp

@@ -44,6 +44,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor ILabs::desc{task_spawn, custom_command, print_usage};
+
 // GPS epoch: 1980-01-06 00:00:00 UTC
 constexpr uint64_t GPS_EPOCH_SECS = 315964800ULL;
 
@@ -152,8 +154,8 @@ int ILabs::task_spawn(int argc, char *argv[]) {
 			return PX4_ERROR;
 		}
 
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		instance->ScheduleNow();
 
@@ -227,7 +229,7 @@ int ILabs::print_status() {
 void ILabs::Run() {
 	if (should_exit()) {
 		_sensor.deinit();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -530,5 +532,5 @@ void ILabs::processData(InertialLabs::SensorsData *data) {
 }
 
 extern "C" __EXPORT int ilabs_main(int argc, char *argv[]) {
-	return ILabs::main(argc, argv);
+	return ModuleBase::main(ILabs::desc, argc, argv);
 }

src/drivers/ins/ilabs/ILabs.h

@@ -59,8 +59,10 @@
 
 #include "sensor.h"
 
-class ILabs : public ModuleBase<ILabs>, public ModuleParams, public px4::ScheduledWorkItem {
+class ILabs : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem {
 public:
+	static Descriptor desc;
+
 	ILabs(const char *port);
 	~ILabs() override;
 

src/drivers/ins/microstrain/MicroStrain.cpp

@@ -35,6 +35,8 @@
 
 #include "MicroStrain.hpp"
 
+ModuleBase::Descriptor MicroStrain::desc{task_spawn, custom_command, print_usage};
+
 device::Serial device_uart{};
 
 MicroStrain::MicroStrain(const char *uart_port) :
@@ -1851,7 +1853,7 @@ void MicroStrain::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -1911,8 +1913,8 @@ int MicroStrain::task_spawn(int argc, char *argv[])
 
 	if (dev == nullptr || strlen(dev) == 0) {
 		print_usage("no device specified");
-		_object.store(nullptr);
-		_task_id = -1;
+		desc.object.store(nullptr);
+		desc.task_id = -1;
 
 		return PX4_ERROR;
 	}
@@ -1921,8 +1923,8 @@ int MicroStrain::task_spawn(int argc, char *argv[])
 	MicroStrain *instance = new MicroStrain(dev);
 
 	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()) {
 			return PX4_OK;
@@ -1933,8 +1935,8 @@ int MicroStrain::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -1995,5 +1997,5 @@ $ microstrain stop
 
 extern "C" __EXPORT int microstrain_main(int argc, char *argv[])
 {
-	return MicroStrain::main(argc, argv);
+	return ModuleBase::main(MicroStrain::desc, argc, argv);
 }

src/drivers/ins/microstrain/MicroStrain.hpp

@@ -86,9 +86,11 @@ using matrix::Vector2f;
 
 static constexpr float sq(float x) { return x * x; };
 
-class MicroStrain : public ModuleBase<MicroStrain>, public ModuleParams, public px4::ScheduledWorkItem
+class MicroStrain : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	MicroStrain(const char *_device);
 	~MicroStrain() override;
 

src/drivers/ins/sbgecom/sbgecom.cpp

@@ -72,6 +72,8 @@
 
 using matrix::Vector2f;
 
+ModuleBase::Descriptor SbgEcom::desc{task_spawn, custom_command, print_usage};
+
 SbgEcom::SbgEcom(const char *device_name, uint32_t baudrate, const char *config_file, const char *config_string):
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(device_name)),
@@ -952,7 +954,7 @@ void SbgEcom::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -1065,8 +1067,8 @@ int SbgEcom::task_spawn(int argc, char **argv)
 			return PX4_ERROR;
 		}
 
-		_task_id = task_id_is_work_queue;
-		_object.store(instance);
+		desc.task_id = task_id_is_work_queue;
+		desc.object.store(instance);
 		instance->ScheduleNow();
 		return PX4_OK;
 
@@ -1121,5 +1123,5 @@ int SbgEcom::print_status()
 
 extern "C" __EXPORT int sbgecom_main(int argc, char **argv)
 {
-	return SbgEcom::main(argc, argv);
+	return ModuleBase::main(SbgEcom::desc, argc, argv);
 }

src/drivers/ins/sbgecom/sbgecom.hpp

@@ -63,10 +63,12 @@
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_magnetometer.h>
 
-class SbgEcom : public ModuleBase<SbgEcom>, public ModuleParams, public px4::ScheduledWorkItem
+class SbgEcom : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
 
+	static Descriptor desc;
+
 	SbgEcom(const char *port, uint32_t baudrate, const char *config_file, const char *config_string);
 	~SbgEcom() override;
 

src/drivers/ins/vectornav/VectorNav.cpp

@@ -40,6 +40,8 @@
 
 using matrix::Vector2f;
 
+ModuleBase::Descriptor VectorNav::desc{task_spawn, custom_command, print_usage};
+
 VectorNav::VectorNav(const char *port) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
@@ -682,7 +684,7 @@ void VectorNav::Run()
 	if (should_exit()) {
 		VnSensor_unregisterAsyncPacketReceivedHandler(&_vs);
 		VnSensor_disconnect(&_vs);
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 
 	} else if (!_initialized) {
@@ -797,8 +799,8 @@ int VectorNav::task_spawn(int argc, char *argv[])
 			return PX4_ERROR;
 		}
 
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		instance->ScheduleNow();
 
@@ -858,5 +860,5 @@ $ vectornav stop
 
 extern "C" __EXPORT int vectornav_main(int argc, char *argv[])
 {
-	return VectorNav::main(argc, argv);
+	return ModuleBase::main(VectorNav::desc, argc, argv);
 }

src/drivers/ins/vectornav/VectorNav.hpp

@@ -75,9 +75,11 @@ extern "C" {
 
 using namespace time_literals;
 
-class VectorNav : public ModuleBase<VectorNav>, public ModuleParams, public px4::ScheduledWorkItem
+class VectorNav : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	VectorNav(const char *port);
 	~VectorNav() override;