WorkItem modules: Run() shouldn't be public

platforms/common/px4_work_queue/test/wqueue_scheduled_test.h

@@ -47,10 +47,11 @@ public:
 
 	int main();
 
-	void Run() override;
-
 	static px4::AppState appState; /* track requests to terminate app */
 
 private:
+
+	void Run() override;
+
 	int _iter{0};
 };

platforms/common/px4_work_queue/test/wqueue_test.h

@@ -47,10 +47,11 @@ public:
 
 	int main();
 
-	void Run() override;
-
 	static px4::AppState appState; /* track requests to terminate app */
 
 private:
+
+	void Run() override;
+
 	int _iter{0};
 };

src/drivers/batt_smbus/batt_smbus.h

@@ -242,11 +242,10 @@ public:
 
 	void resume();
 
-protected:
+private:
 
 	void Run() override;
 
-private:
 	SMBus *_interface;
 
 	perf_counter_t _cycle{perf_alloc(PC_ELAPSED, "batt_smbus_cycle")};

src/drivers/distance_sensor/ll40ls/LidarLitePWM.h

@@ -65,8 +65,6 @@ public:
 	void start() override;
 	void stop() override;
 
-	void Run() override;
-
 protected:
 
 	int collect() override;
@@ -74,6 +72,8 @@ protected:
 
 private:
 
+	void Run() override;
+
 	uORB::Subscription _sub_pwm_input{ORB_ID(pwm_input)};
 
 	pwm_input_s _pwm{};

src/drivers/dshot/dshot.cpp

@@ -127,8 +127,6 @@ public:
 	/** @see ModuleBase */
 	static int print_usage(const char *reason = nullptr);
 
-	void Run() override;
-
 	/** @see ModuleBase::print_status() */
 	int print_status() override;
 
@@ -165,6 +163,9 @@ public:
 	bool telemetryEnabled() const { return _telemetry != nullptr; }
 
 private:
+
+	void Run() override;
+
 	static constexpr uint16_t DISARMED_VALUE = 0;
 
 	enum class DShotConfig {

src/drivers/imu/icm20948/icm20948.h

@@ -369,10 +369,10 @@ protected:
 
 	friend class ICM20948_mag;
 
-	void Run() override;
-
 private:
 
+	void Run() override;
+
 	PX4Accelerometer	_px4_accel;
 	PX4Gyroscope		_px4_gyro;
 

src/drivers/imu/mpu9250/mpu9250.h

@@ -254,10 +254,10 @@ protected:
 
 	friend class MPU9250_mag;
 
-	void Run() override;
-
 private:
 
+	void Run() override;
+
 	PX4Accelerometer	_px4_accel;
 	PX4Gyroscope		_px4_gyro;
 

src/drivers/pwm_out_sim/PWMSim.hpp

@@ -61,14 +61,15 @@ public:
 	/** @see ModuleBase::print_status() */
 	int print_status() override;
 
-	void Run() override;
-
 	int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
 
 	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 			   unsigned num_outputs, unsigned num_control_groups_updated) override;
 
 private:
+
+	void Run() override;
+
 	static constexpr uint16_t PWM_SIM_DISARMED_MAGIC = 900;
 	static constexpr uint16_t PWM_SIM_FAILSAFE_MAGIC = 600;
 	static constexpr uint16_t PWM_SIM_PWM_MIN_MAGIC = 1000;

src/drivers/rc_input/RCInput.hpp

@@ -77,15 +77,15 @@ public:
 	/** @see ModuleBase */
 	static int print_usage(const char *reason = nullptr);
 
-	/** @see ModuleBase::run() */
-	void Run() override;
-
 	/** @see ModuleBase::print_status() */
 	int print_status() override;
 
 	int	init();
 
 private:
+
+	void Run() override;
+
 	enum RC_SCAN {
 		RC_SCAN_PPM = 0,
 		RC_SCAN_SBUS,

src/drivers/safety_button/SafetyButton.hpp

@@ -55,7 +55,7 @@ class SafetyButton : public ModuleBase<SafetyButton>, public px4::ScheduledWorkI
 {
 public:
 	SafetyButton();
-	virtual ~SafetyButton();
+	~SafetyButton() override;
 
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
@@ -69,11 +69,10 @@ public:
 	/** @see ModuleBase::print_status() */
 	int print_status() override;
 
-	void Run() override;
-
 	int Start();
 
 private:
+	void Run() override;
 
 	void CheckButton();
 	void FlashButton();

src/modules/airspeed_selector/airspeed_selector_main.cpp

@@ -87,10 +87,10 @@ public:
 	/** @see ModuleBase */
 	static int print_usage(const char *reason = nullptr);
 
-	/* run the main loop */
+private:
+
 	void Run() override;
 
-private:
 	static constexpr int MAX_NUM_AIRSPEED_SENSORS = 3; /**< Support max 3 airspeed sensors */
 	enum airspeed_index {
 		DISABLED_INDEX = -1,

src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp

@@ -85,12 +85,12 @@ public:
 	/** @see ModuleBase */
 	static int print_usage(const char *reason = nullptr);
 
-	void Run() override;
-
 	bool init();
 
 private:
 
+	void Run() override;
+
 	void update_parameters(bool force = false);
 
 	bool init_attq();

src/modules/battery_status/battery_status.cpp

@@ -94,10 +94,11 @@ public:
 	/** @see ModuleBase */
 	static int print_usage(const char *reason = nullptr);
 
-	void Run() override;
 	bool init();
 
 private:
+	void Run() override;
+
 	int  _adc_fd{-1};			/**< ADC file handle */
 
 	uORB::Subscription	_actuator_ctrl_0_sub{ORB_ID(actuator_controls_0)};		/**< attitude controls sub */

src/modules/camera_feedback/CameraFeedback.hpp

@@ -71,12 +71,12 @@ public:
 	/** @see ModuleBase */
 	static int print_usage(const char *reason = nullptr);
 
-	void Run() override;
-
 	bool init();
 
 private:
 
+	void Run() override;
+
 	uORB::SubscriptionCallbackWorkItem _trigger_sub{this, ORB_ID(camera_trigger)};
 
 	uORB::Subscription	_gpos_sub{ORB_ID(vehicle_global_position)};

src/modules/ekf2/ekf2_main.cpp

@@ -107,13 +107,13 @@ public:
 	/** @see ModuleBase */
 	static int print_usage(const char *reason = nullptr);
 
-	void Run() override;
-
 	bool init();
 
 	int print_status() override;
 
 private:
+	void Run() override;
+
 	int getRangeSubIndex(); ///< get subscription index of first downward-facing range sensor
 	void fillGpsMsgWithVehicleGpsPosData(gps_message &msg, const vehicle_gps_position_s &data);
 

src/modules/fw_att_control/FixedwingAttitudeControl.hpp

@@ -88,11 +88,10 @@ public:
 	/** @see ModuleBase */
 	static int print_usage(const char *reason = nullptr);
 
-	void Run() override;
-
 	bool init();
 
 private:
+	void Run() override;
 
 	uORB::SubscriptionCallbackWorkItem _att_sub{this, ORB_ID(vehicle_attitude)};	/**< vehicle attitude */
 

src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp

@@ -141,11 +141,11 @@ public:
 	/** @see ModuleBase */
 	static int print_usage(const char *reason = nullptr);
 
-	void Run() override;
-
 	bool init();
 
 private:
+	void Run() override;
+
 	orb_advert_t	_mavlink_log_pub{nullptr};
 
 	uORB::SubscriptionCallbackWorkItem _global_pos_sub{this, ORB_ID(vehicle_global_position)};

src/modules/mc_att_control/mc_att_control.hpp

@@ -78,11 +78,10 @@ public:
 	/** @see ModuleBase */
 	static int print_usage(const char *reason = nullptr);
 
-	void Run() override;
-
 	bool init();
 
 private:
+	void Run() override;
 
 	/**
 	 * initialize some vectors/matrices from parameters

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -95,14 +95,14 @@ public:
 	/** @see ModuleBase */
 	static int print_usage(const char *reason = nullptr);
 
-	void Run() override;
-
 	bool init();
 
 	/** @see ModuleBase::print_status() */
 	int print_status() override;
 
 private:
+	void Run() override;
+
 	Takeoff _takeoff; /**< state machine and ramp to bring the vehicle off the ground without jumps */
 
 	uORB::Publication<vehicle_attitude_setpoint_s>	_vehicle_attitude_setpoint_pub;

src/modules/mc_rate_control/MulticopterRateControl.hpp

@@ -75,11 +75,10 @@ public:
 	/** @see ModuleBase */
 	static int print_usage(const char *reason = nullptr);
 
-	void Run() override;
-
 	bool init();
 
 private:
+	void Run() override;
 
 	/**
 	 * initialize some vectors/matrices from parameters

src/modules/rc_update/rc_update.h

@@ -83,11 +83,12 @@ public:
 	/** @see ModuleBase */
 	static int print_usage(const char *reason = nullptr);
 
-	void Run() override;
 	bool init();
 
 private:
 
+	void Run() override;
+
 	/**
 	 * Check for changes in rc_parameter_map
 	 */

src/modules/temperature_compensation/TemperatureCompensationModule.h

@@ -80,8 +80,6 @@ public:
 	/** @see ModuleBase */
 	static int print_usage(const char *reason = nullptr);
 
-	void Run() override;
-
 	/** @see ModuleBase::print_status() */
 	int print_status() override;
 
@@ -92,6 +90,8 @@ public:
 
 private:
 
+	void Run() override;
+
 	void accelPoll();
 	void gyroPoll();
 	void baroPoll();

src/modules/vtol_att_control/vtol_att_control_main.h

@@ -91,7 +91,7 @@ class VtolAttitudeControl : public ModuleBase<VtolAttitudeControl>, public px4::
 public:
 
 	VtolAttitudeControl();
-	~VtolAttitudeControl();
+	~VtolAttitudeControl() override;
 
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
@@ -102,8 +102,6 @@ public:
 	/** @see ModuleBase */
 	static int print_usage(const char *reason = nullptr);
 
-	void Run() override;
-
 	bool init();
 
 	bool is_fixed_wing_requested();
@@ -130,6 +128,8 @@ public:
 
 private:
 
+	void Run() override;
+
 	uORB::SubscriptionCallbackWorkItem _actuator_inputs_fw{this, ORB_ID(actuator_controls_virtual_fw)};
 	uORB::SubscriptionCallbackWorkItem _actuator_inputs_mc{this, ORB_ID(actuator_controls_virtual_mc)};