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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
2026-02-18 17:17:17 -09:00
committed by GitHub
parent 657854ae1b
commit ce3e62841f
227 changed files with 1741 additions and 1496 deletions
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src/modules/commander/Commander.cpp
+21 -12
View File
@@ -74,6 +74,8 @@
#include <uORB/topics/mavlink_log.h>
#include <uORB/topics/tune_control.h>
ModuleBase::Descriptor Commander::desc{task_spawn, custom_command, print_usage};
typedef enum VEHICLE_MODE_FLAG {
VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1, /* 0b00000001 Reserved for future use. | */
VEHICLE_MODE_FLAG_TEST_ENABLED = 2, /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */
@@ -232,7 +234,7 @@ static bool broadcast_vehicle_command(const uint32_t cmd, const float param1 = N
int Commander::custom_command(int argc, char *argv[])
{
if (!is_running()) {
if (!is_running(desc)) {
print_usage("not running");
return 1;
}
@@ -527,7 +529,7 @@ int Commander::print_status()
extern "C" __EXPORT int commander_main(int argc, char *argv[])
{
return Commander::main(argc, argv);
return ModuleBase::main(Commander::desc, argc, argv);
}
static constexpr const char *arm_disarm_reason_str(arm_disarm_reason_t calling_reason)
@@ -2721,23 +2723,30 @@ void Commander::answer_command(const vehicle_command_s &cmd, uint8_t result)
_vehicle_command_ack_pub.publish(command_ack);
}
int Commander::run_trampoline(int argc, char *argv[])
{
return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
return Commander::instantiate(ac, av);
}, argc, argv);
}
int Commander::task_spawn(int argc, char *argv[])
{
_task_id = px4_task_spawn_cmd("commander",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT + 40,
PX4_STACK_ADJUSTED(3250),
(px4_main_t)&run_trampoline,
(char *const *)argv);
desc.task_id = px4_task_spawn_cmd("commander",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT + 40,
PX4_STACK_ADJUSTED(3250),
(px4_main_t)&run_trampoline,
(char *const *)argv);
if (_task_id < 0) {
_task_id = -1;
if (desc.task_id < 0) {
desc.task_id = -1;
return -errno;
}
// wait until task is up & running
if (wait_until_running() < 0) {
_task_id = -1;
if (wait_until_running(desc) < 0) {
desc.task_id = -1;
return -1;
}