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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/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+11 -7
View File
@@ -70,10 +70,12 @@ using matrix::wrap_pi;
using namespace time_literals;
class AttitudeEstimatorQ : public ModuleBase<AttitudeEstimatorQ>, public ModuleParams, public px4::WorkItem
class AttitudeEstimatorQ : public ModuleBase, public ModuleParams, public px4::WorkItem
{
public:
static Descriptor desc;
AttitudeEstimatorQ();
~AttitudeEstimatorQ() override = default;
@@ -171,6 +173,8 @@ private:
)
};
ModuleBase::Descriptor AttitudeEstimatorQ::desc{task_spawn, custom_command, print_usage};
AttitudeEstimatorQ::AttitudeEstimatorQ() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
@@ -200,7 +204,7 @@ void AttitudeEstimatorQ::Run()
{
if (should_exit()) {
_sensors_sub.unregisterCallback();
exit_and_cleanup();
exit_and_cleanup(desc);
return;
}
@@ -594,8 +598,8 @@ int AttitudeEstimatorQ::task_spawn(int argc, char *argv[])
AttitudeEstimatorQ *instance = new AttitudeEstimatorQ();
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;
@@ -606,8 +610,8 @@ int AttitudeEstimatorQ::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;
}
@@ -634,5 +638,5 @@ Attitude estimator q.
extern "C" __EXPORT int attitude_estimator_q_main(int argc, char *argv[])
{
return AttitudeEstimatorQ::main(argc, argv);
return ModuleBase::main(AttitudeEstimatorQ::desc, argc, argv);
}