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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
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src/drivers/lights/neopixel/neopixel.cpp
+11 -7
View File
@@ -49,9 +49,11 @@
#include <px4_platform_common/module.h>
#include <drivers/drv_neopixel.h>
class NEOPIXEL : public px4::ScheduledWorkItem, public ModuleBase<NEOPIXEL>
class NEOPIXEL : public px4::ScheduledWorkItem, public ModuleBase
{
public:
static Descriptor desc;
NEOPIXEL(unsigned int number_of_packages);
virtual ~NEOPIXEL();
@@ -84,6 +86,8 @@ private:
neopixel::NeoLEDData *_leds;
};
ModuleBase::Descriptor NEOPIXEL::desc{task_spawn, custom_command, print_usage};
NEOPIXEL::NEOPIXEL(unsigned int number_of_packages) :
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
_number_of_packages(number_of_packages)
@@ -131,8 +135,8 @@ int NEOPIXEL::task_spawn(int argc, char *argv[])
NEOPIXEL *instance = new NEOPIXEL(number_of_packages);
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;
@@ -143,8 +147,8 @@ int NEOPIXEL::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;
}
@@ -190,7 +194,7 @@ void NEOPIXEL::Run()
{
if (should_exit()) {
ScheduleClear();
exit_and_cleanup();
exit_and_cleanup(desc);
return;
}
@@ -246,5 +250,5 @@ void NEOPIXEL::Run()
extern "C" __EXPORT int neopixel_main(int argc, char *argv[])
{
return NEOPIXEL::main(argc, argv);
return ModuleBase::main(NEOPIXEL::desc, argc, argv);
}