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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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vtol_att_control/vtol_att_control_main.cpp
+10 -8
View File
@@ -54,6 +54,8 @@
using namespace matrix;
using namespace time_literals;
ModuleBase::Descriptor VtolAttitudeControl::desc{task_spawn, custom_command, print_usage};
VtolAttitudeControl::VtolAttitudeControl() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
@@ -74,7 +76,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
_vtol_type = new Standard(this);
} else {
exit_and_cleanup();
exit_and_cleanup(desc);
}
_flaps_setpoint_pub.advertise();
@@ -285,7 +287,7 @@ VtolAttitudeControl::Run()
if (should_exit()) {
_vehicle_torque_setpoint_virtual_fw_sub.unregisterCallback();
_vehicle_torque_setpoint_virtual_mc_sub.unregisterCallback();
exit_and_cleanup();
exit_and_cleanup(desc);
return;
}
@@ -307,7 +309,7 @@ VtolAttitudeControl::Run()
_initialized = true;
} else {
exit_and_cleanup();
exit_and_cleanup(desc);
return;
}
}
@@ -500,8 +502,8 @@ VtolAttitudeControl::task_spawn(int argc, char *argv[])
VtolAttitudeControl *instance = new VtolAttitudeControl();
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;
@@ -512,8 +514,8 @@ VtolAttitudeControl::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;
}
@@ -546,5 +548,5 @@ fw_att_control is the fixed wing attitude controller.
int vtol_att_control_main(int argc, char *argv[])
{
return VtolAttitudeControl::main(argc, argv);
return ModuleBase::main(VtolAttitudeControl::desc, argc, argv);
}
src/modules/vtol_att_control/vtol_att_control_main.h
+3 -1
View File
@@ -93,10 +93,12 @@ using namespace time_literals;
extern "C" __EXPORT int vtol_att_control_main(int argc, char *argv[]);
class VtolAttitudeControl : public ModuleBase<VtolAttitudeControl>, public ModuleParams, public px4::WorkItem
class VtolAttitudeControl : public ModuleBase, public ModuleParams, public px4::WorkItem
{
public:
static Descriptor desc;
VtolAttitudeControl();
~VtolAttitudeControl() override;