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/examples/fake_gps/FakeGps.cpp

@@ -35,6 +35,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor FakeGps::desc{task_spawn, custom_command, print_usage};
+
 FakeGps::FakeGps(double latitude_deg, double longitude_deg, double altitude_m) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
@@ -54,7 +56,7 @@ void FakeGps::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -102,8 +104,8 @@ int FakeGps::task_spawn(int argc, char *argv[])
 	FakeGps *instance = new FakeGps();
 
 	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;
@@ -114,8 +116,8 @@ int FakeGps::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;
 }
@@ -145,5 +147,5 @@ int FakeGps::print_usage(const char *reason)
 
 extern "C" __EXPORT int fake_gps_main(int argc, char *argv[])
 {
-	return FakeGps::main(argc, argv);
+	return ModuleBase::main(FakeGps::desc, argc, argv);
 }

src/examples/fake_gps/FakeGps.hpp

@@ -43,9 +43,11 @@
 #include <uORB/topics/sensor_gps.h>
 #include <uORB/topics/sensor_gnss_status.h>
 
-class FakeGps : public ModuleBase<FakeGps>, public ModuleParams, public px4::ScheduledWorkItem
+class FakeGps : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	FakeGps(double latitude_deg = 29.6603018, double longitude_deg = -82.3160500, double altitude_m = 30.1);
 
 	~FakeGps() override = default;

src/examples/fake_imu/FakeImu.cpp

@@ -35,6 +35,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor FakeImu::desc{task_spawn, custom_command, print_usage};
+
 FakeImu::FakeImu() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
@@ -60,7 +62,7 @@ void FakeImu::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -168,8 +170,8 @@ int FakeImu::task_spawn(int argc, char *argv[])
 	FakeImu *instance = new FakeImu();
 
 	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;
@@ -180,8 +182,8 @@ int FakeImu::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;
 }
@@ -211,5 +213,5 @@ int FakeImu::print_usage(const char *reason)
 
 extern "C" __EXPORT int fake_imu_main(int argc, char *argv[])
 {
-	return FakeImu::main(argc, argv);
+	return ModuleBase::main(FakeImu::desc, argc, argv);
 }

src/examples/fake_imu/FakeImu.hpp

@@ -51,9 +51,11 @@
 # include <uORB/topics/esc_status.h>
 #endif // FAKE_IMU_FAKE_ESC_STATUS
 
-class FakeImu : public ModuleBase<FakeImu>, public ModuleParams, public px4::ScheduledWorkItem
+class FakeImu : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	FakeImu();
 	~FakeImu() override = default;
 

src/examples/fake_magnetometer/FakeMagnetometer.cpp

@@ -38,6 +38,8 @@
 using namespace matrix;
 using namespace time_literals;
 
+ModuleBase::Descriptor FakeMagnetometer::desc{task_spawn, custom_command, print_usage};
+
 FakeMagnetometer::FakeMagnetometer() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
@@ -56,7 +58,7 @@ void FakeMagnetometer::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -94,8 +96,8 @@ int FakeMagnetometer::task_spawn(int argc, char *argv[])
 	FakeMagnetometer *instance = new FakeMagnetometer();
 
 	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;
@@ -106,8 +108,8 @@ int FakeMagnetometer::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;
 }
@@ -138,5 +140,5 @@ Requires vehicle_attitude and vehicle_gps_position.
 
 extern "C" __EXPORT int fake_magnetometer_main(int argc, char *argv[])
 {
-	return FakeMagnetometer::main(argc, argv);
+	return ModuleBase::main(FakeMagnetometer::desc, argc, argv);
 }

src/examples/fake_magnetometer/FakeMagnetometer.hpp

@@ -52,9 +52,11 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/sensor_gps.h>
 
-class FakeMagnetometer : public ModuleBase<FakeMagnetometer>, public ModuleParams, public px4::ScheduledWorkItem
+class FakeMagnetometer : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	FakeMagnetometer();
 	~FakeMagnetometer() override = default;
 

src/examples/work_item/WorkItemExample.cpp

@@ -33,6 +33,8 @@
 
 #include "WorkItemExample.hpp"
 
+ModuleBase::Descriptor WorkItemExample::desc{task_spawn, custom_command, print_usage};
+
 WorkItemExample::WorkItemExample() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::test1)
@@ -63,7 +65,7 @@ void WorkItemExample::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -132,8 +134,8 @@ int WorkItemExample::task_spawn(int argc, char *argv[])
 	WorkItemExample *instance = new WorkItemExample();
 
 	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;
@@ -144,8 +146,8 @@ int WorkItemExample::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;
 }
@@ -184,5 +186,5 @@ Example of a simple module running out of a work queue.
 
 extern "C" __EXPORT int work_item_example_main(int argc, char *argv[])
 {
-	return WorkItemExample::main(argc, argv);
+	return ModuleBase::main(WorkItemExample::desc, argc, argv);
 }

src/examples/work_item/WorkItemExample.hpp

@@ -52,9 +52,11 @@
 
 using namespace time_literals;
 
-class WorkItemExample : public ModuleBase<WorkItemExample>, public ModuleParams, public px4::ScheduledWorkItem
+class WorkItemExample : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	WorkItemExample();
 	~WorkItemExample() override;