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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/replay/Replay.cpp
+18 -8
View File
@@ -74,6 +74,8 @@ using namespace time_literals;
namespace px4
{
ModuleBase::Descriptor Replay::desc{task_spawn, custom_command, print_usage};
char *Replay::_replay_file = nullptr;
Replay::CompatSensorCombinedDtType::CompatSensorCombinedDtType(int gyro_integral_dt_offset_log,
@@ -1148,6 +1150,14 @@ Replay::custom_command(int argc, char *argv[])
return print_usage("unknown command");
}
int
Replay::run_trampoline(int argc, char *argv[])
{
return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
return Replay::instantiate(ac, av);
}, argc, argv);
}
int
Replay::task_spawn(int argc, char *argv[])
{
@@ -1161,15 +1171,15 @@ Replay::task_spawn(int argc, char *argv[])
return -1;
}
_task_id = px4_task_spawn_cmd("replay",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
4000,
(px4_main_t)&run_trampoline,
(char *const *)argv);
desc.task_id = px4_task_spawn_cmd("replay",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
4000,
(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;
}