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/drivers/adc/board_adc/ADC.cpp

@@ -39,6 +39,8 @@
 #include <nuttx/ioexpander/gpio.h>
 #endif
 
+ModuleBase::Descriptor ADC::desc{task_spawn, custom_command, print_usage};
+
 ADC::ADC(uint32_t base_address, uint32_t channels, bool publish_adc_report) :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
 	_publish_adc_report(publish_adc_report),
@@ -362,8 +364,8 @@ int ADC::custom_command(int argc, char *argv[])
 	const char *verb = argv[0];
 
 	if (!strcmp(verb, "test")) {
-		if (is_running()) {
-			return _object.load()->test();
+		if (is_running(desc)) {
+			return get_instance<ADC>(desc)->test();
 		}
 
 		return PX4_ERROR;
@@ -378,8 +380,8 @@ int ADC::task_spawn(int argc, char *argv[])
 	ADC *instance = new ADC(SYSTEM_ADC_BASE, ADC_CHANNELS, publish_adc_report);
 
 	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;
@@ -390,8 +392,8 @@ int ADC::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;
 }
@@ -421,5 +423,5 @@ ADC driver.
 
 extern "C" __EXPORT int board_adc_main(int argc, char *argv[])
 {
-	return ADC::main(argc, argv);
+	return ModuleBase::main(ADC::desc, argc, argv);
 }

src/drivers/adc/board_adc/ADC.hpp

@@ -62,9 +62,11 @@ using namespace time_literals;
 
 #define ADC_TOTAL_CHANNELS 		32
 
-class ADC : public ModuleBase<ADC>, public px4::ScheduledWorkItem
+class ADC : public ModuleBase, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	ADC(uint32_t base_address = SYSTEM_ADC_BASE, uint32_t channels = ADC_CHANNELS, bool publish_adc_report = true);
 
 	~ADC() override;