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

boards/cuav/x25-evo/core_heater/core_heater.cpp

@@ -43,6 +43,8 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_io_heater.h>
 
+ModuleBase::Descriptor Core_Heater::desc{task_spawn, custom_command, print_usage};
+
 #  ifndef GPIO_CORE_HEATER_OUTPUT
 #  error "To use the heater driver, the board_config.h must define and initialize GPIO_CORE_HEATER_OUTPUT"
 #  endif
@@ -62,7 +64,7 @@ Core_Heater::~Core_Heater()
 int Core_Heater::custom_command(int argc, char *argv[])
 {
 	// Check if the driver is running.
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		PX4_INFO("not running");
 		return PX4_ERROR;
 	}
@@ -117,7 +119,7 @@ bool Core_Heater::initialize_topics()
 void Core_Heater::Run()
 {
 	if (should_exit()) {
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -216,8 +218,8 @@ int Core_Heater::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	_object.store(core_heater);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(core_heater);
+	desc.task_id = task_id_is_work_queue;
 
 	core_heater->start();
 	return 0;
@@ -257,5 +259,5 @@ Background process running periodically on the LP work queue to regulate IMU tem
 
 extern "C" __EXPORT int core_heater_main(int argc, char *argv[])
 {
-	return Core_Heater::main(argc, argv);
+	return ModuleBase::main(Core_Heater::desc, argc, argv);
 }

boards/cuav/x25-evo/core_heater/core_heater.h

@@ -56,9 +56,11 @@ using namespace time_literals;
 #define CONTROLLER_PERIOD_DEFAULT    10000
 #define TEMPERATURE_TARGET_THRESHOLD 2.5f
 
-class Core_Heater : public ModuleBase<Core_Heater>, public ModuleParams, public px4::ScheduledWorkItem
+class Core_Heater : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	Core_Heater();
 
 	virtual ~Core_Heater();

boards/emlid/navio2/navio_rgbled/NavioRGBLed.cpp

@@ -33,6 +33,8 @@
 
 #include "NavioRGBLed.hpp"
 
+ModuleBase::Descriptor NavioRGBLed::desc{task_spawn, custom_command, print_usage};
+
 NavioRGBLed::NavioRGBLed() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
 {
@@ -130,8 +132,8 @@ int NavioRGBLed::task_spawn(int argc, char *argv[])
 	NavioRGBLed *instance = new NavioRGBLed();
 
 	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() == PX4_OK) {
 			return PX4_OK;
@@ -142,8 +144,8 @@ int NavioRGBLed::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;
 }
@@ -170,5 +172,5 @@ Emlid Navio2 RGB LED driver.
 
 extern "C" __EXPORT int navio_rgbled_main(int argc, char *argv[])
 {
-	return NavioRGBLed::main(argc, argv);
+	return ModuleBase::main(NavioRGBLed::desc, argc, argv);
 }

boards/emlid/navio2/navio_rgbled/NavioRGBLed.hpp

@@ -40,9 +40,11 @@
 
 #include <lib/led/led.h>
 
-class NavioRGBLed : public ModuleBase<NavioRGBLed>, public px4::ScheduledWorkItem
+class NavioRGBLed : public ModuleBase, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	NavioRGBLed();
 	~NavioRGBLed() override;
 

boards/modalai/voxl2-slpi/src/drivers/ghst_rc/ghst_rc.cpp

@@ -49,6 +49,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor GhstRc::desc{task_spawn, custom_command, print_usage};
+
 uint32_t GhstRc::baudrate = GHST_BAUDRATE;
 
 GhstRc::GhstRc(const char *device) :
@@ -114,8 +116,8 @@ int GhstRc::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;
 
 	instance->ScheduleNow();
 
@@ -174,7 +176,7 @@ void GhstRc::Run()
 	if (should_exit()) {
 		ScheduleClear();
 		_rc_fd = -1;
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -308,5 +310,5 @@ This module parses the GHST RC uplink protocol and can generate GHST downlink te
 
 extern "C" __EXPORT int ghst_rc_main(int argc, char *argv[])
 {
-	return GhstRc::main(argc, argv);
+	return ModuleBase::main(GhstRc::desc, argc, argv);
 }

boards/modalai/voxl2-slpi/src/drivers/ghst_rc/ghst_rc.hpp

@@ -54,9 +54,11 @@
 
 #define GHST_MAX_NUM_CHANNELS			(16)
 
-class GhstRc : public ModuleBase<GhstRc>, public ModuleParams, public px4::ScheduledWorkItem
+class GhstRc : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	GhstRc(const char *device);
 	~GhstRc() override;
 

boards/modalai/voxl2-slpi/src/drivers/rc_controller/rc_controller.cpp

@@ -59,6 +59,8 @@
 
 #include "rc_controller.hpp"
 
+ModuleBase::Descriptor RC_ControllerModule::desc{task_spawn, custom_command, print_usage};
+
 int RC_ControllerModule::print_status()
 {
 	PX4_INFO("Running");
@@ -69,35 +71,35 @@ int RC_ControllerModule::print_status()
 
 int RC_ControllerModule::custom_command(int argc, char *argv[])
 {
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		print_usage("not running");
 		return 1;
 	}
 
 	if (!strcmp(argv[0], "throttle")) {
 		uint16_t val = atoi(argv[1]);
-		get_instance()->set_throttle(val);
+		get_instance<RC_ControllerModule>(desc)->set_throttle(val);
 		PX4_INFO("Setting throttle to %u", val);
 		return 0;
 	}
 
 	if (!strcmp(argv[0], "yaw")) {
 		uint16_t val = atoi(argv[1]);
-		get_instance()->set_yaw(val);
+		get_instance<RC_ControllerModule>(desc)->set_yaw(val);
 		PX4_INFO("Setting yaw to %u", val);
 		return 0;
 	}
 
 	if (!strcmp(argv[0], "pitch")) {
 		uint16_t val = atoi(argv[1]);
-		get_instance()->set_pitch(val);
+		get_instance<RC_ControllerModule>(desc)->set_pitch(val);
 		PX4_INFO("Setting pitch to %u", val);
 		return 0;
 	}
 
 	if (!strcmp(argv[0], "roll")) {
 		uint16_t val = atoi(argv[1]);
-		get_instance()->set_roll(val);
+		get_instance<RC_ControllerModule>(desc)->set_roll(val);
 		PX4_INFO("Setting roll to %u", val);
 		return 0;
 	}
@@ -106,17 +108,24 @@ int RC_ControllerModule::custom_command(int argc, char *argv[])
 }
 
 
+int RC_ControllerModule::run_trampoline(int argc, char *argv[])
+{
+	return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
+		return RC_ControllerModule::instantiate(ac, av);
+	}, argc, argv);
+}
+
 int RC_ControllerModule::task_spawn(int argc, char *argv[])
 {
-	_task_id = px4_task_spawn_cmd("RC_ControllerModule",
-				      SCHED_DEFAULT,
-				      SCHED_PRIORITY_MAX,
-				      1024,
-				      (px4_main_t)&run_trampoline,
-				      (char *const *)argv);
+	desc.task_id = px4_task_spawn_cmd("RC_ControllerModule",
+					  SCHED_DEFAULT,
+					  SCHED_PRIORITY_MAX,
+					  1024,
+					  (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;
 	}
 
@@ -252,5 +261,5 @@ int RC_ControllerModule::print_usage(const char *reason)
 
 int rc_controller_main(int argc, char *argv[])
 {
-	return RC_ControllerModule::main(argc, argv);
+	return ModuleBase::main(RC_ControllerModule::desc, argc, argv);
 }

boards/modalai/voxl2-slpi/src/drivers/rc_controller/rc_controller.hpp

@@ -41,9 +41,11 @@
 
 extern "C" __EXPORT int rc_controller_main(int argc, char *argv[]);
 
-class RC_ControllerModule : public ModuleBase<RC_ControllerModule>, public ModuleParams
+class RC_ControllerModule : public ModuleBase, public ModuleParams
 {
 public:
+	static Descriptor desc;
+
 	RC_ControllerModule();
 
 	virtual ~RC_ControllerModule() = default;
@@ -51,6 +53,9 @@ public:
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
 
+	/** @see ModuleBase */
+	static int run_trampoline(int argc, char *argv[]);
+
 	/** @see ModuleBase */
 	static RC_ControllerModule *instantiate(int argc, char *argv[]);
 

boards/modalai/voxl2/src/modules/voxl_save_cal_params/VoxlSaveCalParams.cpp

@@ -41,6 +41,8 @@
 
 using namespace std;
 
+ModuleBase::Descriptor VoxlSaveCalParams::desc{task_spawn, custom_command, print_usage};
+
 static bool debug = false;
 
 VoxlSaveCalParams::VoxlSaveCalParams() :
@@ -145,7 +147,7 @@ VoxlSaveCalParams::Run()
 {
 	if (should_exit()) {
 		_parameter_primary_set_value_request_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -186,8 +188,8 @@ int VoxlSaveCalParams::task_spawn(int argc, char *argv[])
 	VoxlSaveCalParams *instance = new VoxlSaveCalParams();
 
 	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;
@@ -198,8 +200,8 @@ int VoxlSaveCalParams::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;
 }
@@ -230,5 +232,5 @@ This implements autosaving of calibration parameters on VOXL2 platform.
 
 extern "C" __EXPORT int voxl_save_cal_params_main(int argc, char *argv[])
 {
-	return VoxlSaveCalParams::main(argc, argv);
+	return ModuleBase::main(VoxlSaveCalParams::desc, argc, argv);
 }

boards/modalai/voxl2/src/modules/voxl_save_cal_params/VoxlSaveCalParams.hpp

@@ -46,10 +46,12 @@
 
 using namespace time_literals;
 
-class VoxlSaveCalParams : public ModuleBase<VoxlSaveCalParams>, public ModuleParams,
+class VoxlSaveCalParams : public ModuleBase, public ModuleParams,
 	public px4::WorkItem
 {
 public:
+	static Descriptor desc;
+
 	VoxlSaveCalParams();
 	~VoxlSaveCalParams() = default;