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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/fw_mode_manager/FixedWingModeManager.cpp
+8 -6
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@@ -46,6 +46,8 @@ using matrix::Vector2d;
using matrix::Vector3f;
using matrix::wrap_pi;
ModuleBase::Descriptor FixedWingModeManager::desc{task_spawn, custom_command, print_usage};
const fixed_wing_lateral_setpoint_s empty_lateral_control_setpoint = {.timestamp = 0, .course = NAN, .airspeed_direction = NAN, .lateral_acceleration = NAN};
const fixed_wing_longitudinal_setpoint_s empty_longitudinal_control_setpoint = {.timestamp = 0, .altitude = NAN, .height_rate = NAN, .equivalent_airspeed = NAN, .pitch_direct = NAN, .throttle_direct = NAN};
@@ -1991,7 +1993,7 @@ FixedWingModeManager::Run()
{
if (should_exit()) {
_local_pos_sub.unregisterCallback();
exit_and_cleanup();
exit_and_cleanup(desc);
return;
}
@@ -2746,8 +2748,8 @@ int FixedWingModeManager::task_spawn(int argc, char *argv[])
FixedWingModeManager *instance = new FixedWingModeManager();
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;
@@ -2758,8 +2760,8 @@ int FixedWingModeManager::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;
}
@@ -2793,5 +2795,5 @@ lateral-longitudinal controller and and controllers below that (attitude, rate).
extern "C" __EXPORT int fw_mode_manager_main(int argc, char *argv[])
{
return FixedWingModeManager::main(argc, argv);
return ModuleBase::main(FixedWingModeManager::desc, argc, argv);
}