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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/px4io/px4io.cpp
+22 -17
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@@ -99,9 +99,11 @@ using namespace time_literals;
*
* Encapsulates PX4FMU to PX4IO communications modeled as file operations.
*/
class PX4IO : public cdev::CDev, public ModuleBase<PX4IO>, public OutputModuleInterface
class PX4IO : public cdev::CDev, public ModuleBase, public OutputModuleInterface
{
public:
static Descriptor desc;
/**
* Constructor.
*
@@ -339,6 +341,8 @@ private:
)
};
ModuleBase::Descriptor PX4IO::desc{task_spawn, custom_command, print_usage};
#define PX4IO_DEVICE_PATH "/dev/px4io"
PX4IO::PX4IO(device::Device *interface) :
@@ -512,7 +516,7 @@ void PX4IO::Run()
ScheduleClear();
_mixing_output.unregister();
exit_and_cleanup();
exit_and_cleanup(desc);
return;
}
@@ -1513,7 +1517,8 @@ int PX4IO::bind(int argc, char *argv[])
pulses = atoi(argv[1]);
}
get_instance()->ioctl(nullptr, DSM_BIND_START, pulses);
get_instance<PX4IO>(desc)->ioctl(nullptr, DSM_BIND_START, pulses);
return 0;
}
@@ -1529,8 +1534,8 @@ int PX4IO::task_spawn(int argc, char *argv[])
PX4IO *instance = new PX4IO(interface);
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;
@@ -1541,8 +1546,8 @@ int PX4IO::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;
}
@@ -1556,7 +1561,7 @@ int PX4IO::custom_command(int argc, char *argv[])
}
if (!strcmp(verb, "checkcrc")) {
if (is_running()) {
if (is_running(desc)) {
PX4_ERR("io must be stopped");
return 1;
}
@@ -1566,7 +1571,7 @@ int PX4IO::custom_command(int argc, char *argv[])
if (!strcmp(verb, "update")) {
if (is_running()) {
if (is_running(desc)) {
PX4_ERR("io must be stopped");
return 1;
}
@@ -1656,7 +1661,7 @@ int PX4IO::custom_command(int argc, char *argv[])
/* commands below here require a started driver */
if (!is_running()) {
if (!is_running(desc)) {
PX4_ERR("not running");
return 1;
}
@@ -1668,7 +1673,7 @@ int PX4IO::custom_command(int argc, char *argv[])
}
uint8_t level = atoi(argv[1]);
int ret = get_instance()->ioctl(nullptr, PX4IO_SET_DEBUG, level);
int ret = get_instance<PX4IO>(desc)->ioctl(nullptr, PX4IO_SET_DEBUG, level);
if (ret != 0) {
PX4_ERR("SET_DEBUG failed: %d", ret);
@@ -1680,7 +1685,7 @@ int PX4IO::custom_command(int argc, char *argv[])
}
if (!strcmp(verb, "bind")) {
if (!is_running()) {
if (!is_running(desc)) {
PX4_ERR("io must be running");
return 1;
}
@@ -1689,7 +1694,7 @@ int PX4IO::custom_command(int argc, char *argv[])
}
if (!strcmp(verb, "sbus1_out")) {
int ret = get_instance()->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 1);
int ret = get_instance<PX4IO>(desc)->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 1);
if (ret != 0) {
PX4_ERR("S.BUS v1 failed (%i)", ret);
@@ -1700,7 +1705,7 @@ int PX4IO::custom_command(int argc, char *argv[])
}
if (!strcmp(verb, "sbus2_out")) {
int ret = get_instance()->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 2);
int ret = get_instance<PX4IO>(desc)->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 2);
if (ret != 0) {
PX4_ERR("S.BUS v2 failed (%i)", ret);
@@ -1711,12 +1716,12 @@ int PX4IO::custom_command(int argc, char *argv[])
}
if (!strcmp(verb, "test_fmu_fail")) {
get_instance()->test_fmu_fail(true);
get_instance<PX4IO>(desc)->test_fmu_fail(true);
return 0;
}
if (!strcmp(verb, "test_fmu_ok")) {
get_instance()->test_fmu_fail(false);
get_instance<PX4IO>(desc)->test_fmu_fail(false);
return 0;
}
@@ -1764,5 +1769,5 @@ extern "C" __EXPORT int px4io_main(int argc, char *argv[])
PX4_INFO("PX4IO Not Supported");
return -1;
}
return PX4IO::main(argc, argv);
return ModuleBase::main(PX4IO::desc, argc, argv);
}