module_base: remove CRTP template pattern to reduce flash bloat (#26476)

* 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

src/modules/simulation/battery_simulator/BatterySimulator.cpp

@@ -33,6 +33,8 @@
 
 #include "BatterySimulator.hpp"
 
+ModuleBase::Descriptor BatterySimulator::desc{task_spawn, custom_command, print_usage};
+
 BatterySimulator::BatterySimulator() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
@@ -55,7 +57,7 @@ void BatterySimulator::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -175,8 +177,8 @@ int BatterySimulator::task_spawn(int argc, char *argv[])
 	BatterySimulator *instance = new BatterySimulator();
 
 	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;
@@ -187,8 +189,8 @@ int BatterySimulator::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;
 }
@@ -220,5 +222,5 @@ int BatterySimulator::print_usage(const char *reason)
 
 extern "C" __EXPORT int battery_simulator_main(int argc, char *argv[])
 {
-	return BatterySimulator::main(argc, argv);
+	return ModuleBase::main(BatterySimulator::desc, argc, argv);
 }

src/modules/simulation/battery_simulator/BatterySimulator.hpp

@@ -50,9 +50,11 @@
 
 using namespace time_literals;
 
-class BatterySimulator : public ModuleBase<BatterySimulator>, public ModuleParams, public px4::ScheduledWorkItem
+class BatterySimulator : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	BatterySimulator();
 	~BatterySimulator() override;
 

src/modules/simulation/gz_bridge/GZBridge.cpp

@@ -43,6 +43,8 @@
 #include <iostream>
 #include <string>
 
+ModuleBase::Descriptor GZBridge::desc{task_spawn, custom_command, print_usage};
+
 GZBridge::GZBridge(const std::string &world, const std::string &model_name) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
@@ -170,7 +172,7 @@ void GZBridge::Run()
 		_mixing_interface_wheel.stop();
 		_gimbal.stop();
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -983,13 +985,13 @@ int GZBridge::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	_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() != PX4_OK) {
 		delete instance;
-		_object.store(nullptr);
-		_task_id = -1;
+		desc.object.store(nullptr);
+		desc.task_id = -1;
 		return PX4_ERROR;
 	}
 
@@ -1038,5 +1040,5 @@ int GZBridge::print_usage(const char *reason)
 
 extern "C" __EXPORT int gz_bridge_main(int argc, char *argv[])
 {
-	return GZBridge::main(argc, argv);
+	return ModuleBase::main(GZBridge::desc, argc, argv);
 }

src/modules/simulation/gz_bridge/GZBridge.hpp

@@ -84,9 +84,11 @@
 
 using namespace time_literals;
 
-class GZBridge : public ModuleBase<GZBridge>, public ModuleParams, public px4::ScheduledWorkItem
+class GZBridge : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	GZBridge(const std::string &world, const std::string &model_name);
 	~GZBridge() override;
 

src/modules/simulation/pwm_out_sim/PWMSim.cpp

@@ -41,6 +41,8 @@
 
 #include <px4_platform_common/sem.hpp>
 
+ModuleBase::Descriptor PWMSim::desc{task_spawn, custom_command, print_usage};
+
 PWMSim::PWMSim(bool hil_mode_enabled) :
 	OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default)
 {
@@ -103,7 +105,7 @@ void PWMSim::Run()
 		ScheduleClear();
 		_mixing_output.unregister();
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -146,8 +148,8 @@ int PWMSim::task_spawn(int argc, char *argv[])
 		return -1;
 	}
 
-	_object.store(instance);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(instance);
+	desc.task_id = task_id_is_work_queue;
 	instance->ScheduleNow();
 	return 0;
 }
@@ -195,5 +197,5 @@ It is used in SITL and HITL.
 
 extern "C" __EXPORT int pwm_out_sim_main(int argc, char *argv[])
 {
-	return PWMSim::main(argc, argv);
+	return ModuleBase::main(PWMSim::desc, argc, argv);
 }

src/modules/simulation/pwm_out_sim/PWMSim.hpp

@@ -52,9 +52,11 @@
 
 using namespace time_literals;
 
-class PWMSim : public ModuleBase<PWMSim>, public OutputModuleInterface
+class PWMSim : public ModuleBase, public OutputModuleInterface
 {
 public:
+	static Descriptor desc;
+
 	PWMSim(bool hil_mode_enabled);
 	~PWMSim() override;
 

src/modules/simulation/sensor_agp_sim/SensorAgpSim.cpp

@@ -39,6 +39,8 @@
 
 using namespace matrix;
 
+ModuleBase::Descriptor SensorAgpSim::desc{task_spawn, custom_command, print_usage};
+
 SensorAgpSim::SensorAgpSim() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
@@ -87,7 +89,7 @@ void SensorAgpSim::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -153,8 +155,8 @@ int SensorAgpSim::task_spawn(int argc, char *argv[])
 	SensorAgpSim *instance = new SensorAgpSim();
 
 	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;
@@ -165,8 +167,8 @@ int SensorAgpSim::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;
 }
@@ -198,5 +200,5 @@ Module to simulate auxiliary global position measurements with optional failure
 
 extern "C" __EXPORT int sensor_agp_sim_main(int argc, char *argv[])
 {
-	return SensorAgpSim::main(argc, argv);
+	return ModuleBase::main(SensorAgpSim::desc, argc, argv);
 }

src/modules/simulation/sensor_agp_sim/SensorAgpSim.hpp

@@ -47,9 +47,11 @@
 
 using namespace time_literals;
 
-class SensorAgpSim : public ModuleBase<SensorAgpSim>, public ModuleParams, public px4::ScheduledWorkItem
+class SensorAgpSim : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	SensorAgpSim();
 	~SensorAgpSim() override;
 

src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp

@@ -39,6 +39,8 @@
 
 using namespace matrix;
 
+ModuleBase::Descriptor SensorAirspeedSim::desc{task_spawn, custom_command, print_usage};
+
 SensorAirspeedSim::SensorAirspeedSim() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
@@ -91,7 +93,7 @@ void SensorAirspeedSim::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -159,8 +161,8 @@ int SensorAirspeedSim::task_spawn(int argc, char *argv[])
 	SensorAirspeedSim *instance = new SensorAirspeedSim();
 
 	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;
@@ -171,8 +173,8 @@ int SensorAirspeedSim::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;
 }
@@ -204,5 +206,5 @@ int SensorAirspeedSim::print_usage(const char *reason)
 
 extern "C" __EXPORT int sensor_airspeed_sim_main(int argc, char *argv[])
 {
-	return SensorAirspeedSim::main(argc, argv);
+	return ModuleBase::main(SensorAirspeedSim::desc, argc, argv);
 }

src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.hpp

@@ -55,9 +55,11 @@ static constexpr float PRESSURE_MSL = 101325.0; // pressure at MSL [Pa]
 static constexpr float LAPSE_RATE = 0.0065; // reduction in temperature with altitude for troposphere [K/m]
 static constexpr float AIR_DENSITY_MSL = 1.225; // air density at MSL [kg/m^3]
 
-class SensorAirspeedSim : public ModuleBase<SensorAirspeedSim>, public ModuleParams, public px4::ScheduledWorkItem
+class SensorAirspeedSim : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	SensorAirspeedSim();
 	~SensorAirspeedSim() override;
 

src/modules/simulation/sensor_baro_sim/SensorBaroSim.cpp

@@ -37,6 +37,8 @@
 
 using namespace matrix;
 
+ModuleBase::Descriptor SensorBaroSim::desc{task_spawn, custom_command, print_usage};
+
 SensorBaroSim::SensorBaroSim() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
@@ -90,7 +92,7 @@ void SensorBaroSim::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -183,8 +185,8 @@ int SensorBaroSim::task_spawn(int argc, char *argv[])
 	SensorBaroSim *instance = new SensorBaroSim();
 
 	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;
@@ -195,8 +197,8 @@ int SensorBaroSim::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;
 }
@@ -228,5 +230,5 @@ int SensorBaroSim::print_usage(const char *reason)
 
 extern "C" __EXPORT int sensor_baro_sim_main(int argc, char *argv[])
 {
-	return SensorBaroSim::main(argc, argv);
+	return ModuleBase::main(SensorBaroSim::desc, argc, argv);
 }

src/modules/simulation/sensor_baro_sim/SensorBaroSim.hpp

@@ -48,9 +48,11 @@
 
 using namespace time_literals;
 
-class SensorBaroSim : public ModuleBase<SensorBaroSim>, public ModuleParams, public px4::ScheduledWorkItem
+class SensorBaroSim : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	SensorBaroSim();
 	~SensorBaroSim() override;
 

src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp

@@ -39,6 +39,8 @@
 
 using namespace matrix;
 
+ModuleBase::Descriptor SensorGpsSim::desc{task_spawn, custom_command, print_usage};
+
 SensorGpsSim::SensorGpsSim() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
@@ -91,7 +93,7 @@ void SensorGpsSim::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -187,8 +189,8 @@ int SensorGpsSim::task_spawn(int argc, char *argv[])
 	SensorGpsSim *instance = new SensorGpsSim();
 
 	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;
@@ -199,8 +201,8 @@ int SensorGpsSim::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;
 }
@@ -232,5 +234,5 @@ int SensorGpsSim::print_usage(const char *reason)
 
 extern "C" __EXPORT int sensor_gps_sim_main(int argc, char *argv[])
 {
-	return SensorGpsSim::main(argc, argv);
+	return ModuleBase::main(SensorGpsSim::desc, argc, argv);
 }

src/modules/simulation/sensor_gps_sim/SensorGpsSim.hpp

@@ -48,9 +48,11 @@
 
 using namespace time_literals;
 
-class SensorGpsSim : public ModuleBase<SensorGpsSim>, public ModuleParams, public px4::ScheduledWorkItem
+class SensorGpsSim : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	SensorGpsSim();
 	~SensorGpsSim() override;
 

src/modules/simulation/sensor_mag_sim/SensorMagSim.cpp

@@ -38,6 +38,8 @@
 
 using namespace matrix;
 
+ModuleBase::Descriptor SensorMagSim::desc{task_spawn, custom_command, print_usage};
+
 SensorMagSim::SensorMagSim() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
@@ -91,7 +93,7 @@ void SensorMagSim::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -147,8 +149,8 @@ int SensorMagSim::task_spawn(int argc, char *argv[])
 	SensorMagSim *instance = new SensorMagSim();
 
 	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;
@@ -159,8 +161,8 @@ int SensorMagSim::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;
 }
@@ -192,5 +194,5 @@ int SensorMagSim::print_usage(const char *reason)
 
 extern "C" __EXPORT int sensor_mag_sim_main(int argc, char *argv[])
 {
-	return SensorMagSim::main(argc, argv);
+	return ModuleBase::main(SensorMagSim::desc, argc, argv);
 }

src/modules/simulation/sensor_mag_sim/SensorMagSim.hpp

@@ -48,9 +48,11 @@
 
 using namespace time_literals;
 
-class SensorMagSim : public ModuleBase<SensorMagSim>, public ModuleParams, public px4::ScheduledWorkItem
+class SensorMagSim : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	SensorMagSim();
 	~SensorMagSim() override;
 

src/modules/simulation/simulator_sih/sih.cpp

@@ -53,6 +53,8 @@ using namespace math;
 using namespace matrix;
 using namespace time_literals;
 
+ModuleBase::Descriptor Sih::desc{task_spawn, custom_command, print_usage};
+
 Sih::Sih() :
 	ModuleParams(nullptr)
 {}
@@ -84,7 +86,7 @@ void Sih::run()
 #else
 	realtime_loop();
 #endif
-	exit_and_cleanup();
+	exit_and_cleanup(desc);
 }
 
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
@@ -845,17 +847,24 @@ int Sih::print_status()
 	return 0;
 }
 
+int Sih::run_trampoline(int argc, char *argv[])
+{
+	return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
+		return Sih::instantiate(ac, av);
+	}, argc, argv);
+}
+
 int Sih::task_spawn(int argc, char *argv[])
 {
-	_task_id = px4_task_spawn_cmd("sih",
-				      SCHED_DEFAULT,
-				      SCHED_PRIORITY_MAX,
-				      1560,
-				      (px4_main_t)&run_trampoline,
-				      (char *const *)argv);
+	desc.task_id = px4_task_spawn_cmd("sih",
+					  SCHED_DEFAULT,
+					  SCHED_PRIORITY_MAX,
+					  1560,
+					  (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;
 	}
 
@@ -914,5 +923,5 @@ Most of the variables are declared global in the .hpp file to avoid stack overfl
 
 extern "C" __EXPORT int simulator_sih_main(int argc, char *argv[])
 {
-	return Sih::main(argc, argv);
+	return ModuleBase::main(Sih::desc, argc, argv);
 }

src/modules/simulation/simulator_sih/sih.hpp

@@ -86,15 +86,20 @@
 
 using namespace time_literals;
 
-class Sih : public ModuleBase<Sih>, public ModuleParams
+class Sih : public ModuleBase, public ModuleParams
 {
 public:
+	static Descriptor desc;
+
 	Sih();
 	virtual ~Sih();
 
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
 
+	/** @see ModuleBase */
+	static int run_trampoline(int argc, char *argv[]);
+
 	/** @see ModuleBase */
 	static Sih *instantiate(int argc, char *argv[]);
 

src/modules/simulation/system_power_simulator/SystemPowerSimulator.cpp

@@ -33,6 +33,8 @@
 
 #include "SystemPowerSimulator.hpp"
 
+ModuleBase::Descriptor SystemPowerSimulator::desc{task_spawn, custom_command, print_usage};
+
 SystemPowerSimulator::SystemPowerSimulator() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
 {
@@ -53,7 +55,7 @@ void SystemPowerSimulator::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -81,8 +83,8 @@ int SystemPowerSimulator::task_spawn(int argc, char *argv[])
 	SystemPowerSimulator *instance = new SystemPowerSimulator();
 
 	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;
@@ -93,8 +95,8 @@ int SystemPowerSimulator::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;
 }
@@ -127,5 +129,5 @@ int SystemPowerSimulator::print_usage(const char *reason)
 
 extern "C" __EXPORT int system_power_simulator_main(int argc, char *argv[])
 {
-	return SystemPowerSimulator::main(argc, argv);
+	return ModuleBase::main(SystemPowerSimulator::desc, argc, argv);
 }

src/modules/simulation/system_power_simulator/SystemPowerSimulator.hpp

@@ -44,9 +44,11 @@
 
 using namespace time_literals;
 
-class SystemPowerSimulator : public ModuleBase<SystemPowerSimulator>, public px4::ScheduledWorkItem
+class SystemPowerSimulator : public ModuleBase, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	SystemPowerSimulator();
 	~SystemPowerSimulator() override;