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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/logger/logger.cpp
+24 -15
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@@ -132,7 +132,7 @@ int logger_main(int argc, char *argv[])
return 1;
}
return Logger::main(argc, argv);
return ModuleBase::main(Logger::desc, argc, argv);
}
namespace px4
@@ -140,11 +140,13 @@ namespace px4
namespace logger
{
ModuleBase::Descriptor Logger::desc{task_spawn, custom_command, print_usage};
constexpr const char *Logger::LOG_ROOT[(int)LogType::Count];
int Logger::custom_command(int argc, char *argv[])
{
if (!is_running()) {
if (!is_running(desc)) {
print_usage("logger not running");
return 1;
}
@@ -152,36 +154,43 @@ int Logger::custom_command(int argc, char *argv[])
#ifdef __PX4_NUTTX
if (!strcmp(argv[0], "trigger_watchdog")) {
get_instance()->trigger_watchdog_now();
get_instance<Logger>(desc)->trigger_watchdog_now();
return 0;
}
#endif
if (!strcmp(argv[0], "on")) {
get_instance()->set_arm_override(true);
get_instance<Logger>(desc)->set_arm_override(true);
return 0;
}
if (!strcmp(argv[0], "off")) {
get_instance()->set_arm_override(false);
get_instance<Logger>(desc)->set_arm_override(false);
return 0;
}
return print_usage("unknown command");
}
int Logger::run_trampoline(int argc, char *argv[])
{
return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
return Logger::instantiate(ac, av);
}, argc, argv);
}
int Logger::task_spawn(int argc, char *argv[])
{
_task_id = px4_task_spawn_cmd("logger",
SCHED_DEFAULT,
SCHED_PRIORITY_LOG_CAPTURE,
PX4_STACK_ADJUSTED(CONFIG_LOGGER_STACK_SIZE),
(px4_main_t)&run_trampoline,
(char *const *)argv);
desc.task_id = px4_task_spawn_cmd("logger",
SCHED_DEFAULT,
SCHED_PRIORITY_LOG_CAPTURE,
PX4_STACK_ADJUSTED(CONFIG_LOGGER_STACK_SIZE),
(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;
}
@@ -433,8 +442,8 @@ void Logger::update_params()
bool Logger::request_stop_static()
{
if (is_running()) {
get_instance()->request_stop();
if (is_running(desc)) {
get_instance<Logger>(desc)->request_stop();
return false;
}