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/distance_sensor/pga460/pga460.cpp

@@ -40,6 +40,8 @@
 
 #include "pga460.h"
 
+ModuleBase::Descriptor PGA460::desc{task_spawn, custom_command, print_usage};
+
 
 PGA460::PGA460(const char *port)
 {
@@ -751,6 +753,13 @@ int PGA460::take_measurement(const uint8_t mode)
 	return PX4_OK;
 }
 
+int PGA460::run_trampoline(int argc, char *argv[])
+{
+	return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
+		return PGA460::instantiate(ac, av);
+	}, argc, argv);
+}
+
 int PGA460::task_spawn(int argc, char *argv[])
 {
 	px4_main_t entry_point = (px4_main_t)&run_trampoline;
@@ -765,7 +774,7 @@ int PGA460::task_spawn(int argc, char *argv[])
 		return -errno;
 	}
 
-	_task_id = task_id;
+	desc.task_id = task_id;
 
 	return PX4_OK;
 }
@@ -905,5 +914,5 @@ int PGA460::write_register(const uint8_t reg, const uint8_t val)
 
 extern "C" __EXPORT int pga460_main(int argc, char *argv[])
 {
-	return PGA460::main(argc, argv);
+	return ModuleBase::main(PGA460::desc, argc, argv);
 }

src/drivers/distance_sensor/pga460/pga460.h

@@ -207,10 +207,12 @@
 #define P2_THR_15       0x0     //reg addr      0x7E
 #define THR_CRC         0x1D    //reg addr      0x7F
 
-class PGA460 : public ModuleBase<PGA460>
+class PGA460 : public ModuleBase
 {
 public:
 
+	static Descriptor desc;
+
 	PGA460(const char *port = PGA460_DEFAULT_PORT);
 
 	virtual ~PGA460();
@@ -245,6 +247,11 @@ public:
 	 */
 	static int task_spawn(int argc, char *argv[]);
 
+	/**
+	 * @see ModuleBase
+	 */
+	static int run_trampoline(int argc, char *argv[]);
+
 	/**
 	 * @brief Closes the serial port.
 	 * @return Returns 0 if success or ERRNO.

src/drivers/distance_sensor/srf05/SR05.hpp

@@ -67,9 +67,11 @@ static constexpr uint32_t HXSRX0X_CONVERSION_INTERVAL{50_ms};
 // Maximum time to wait for a conversion to complete.
 static constexpr uint32_t HXSRX0X_CONVERSION_TIMEOUT{30_ms};
 
-class SRF05 : public ModuleBase<SRF05>, public px4::ScheduledWorkItem
+class SRF05 : public ModuleBase, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	SRF05(const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
 	virtual ~SRF05() override;
 

src/drivers/distance_sensor/srf05/SRF05.cpp

@@ -46,6 +46,8 @@
 
 #include <px4_arch/micro_hal.h>
 
+ModuleBase::Descriptor SRF05::desc{task_spawn, custom_command, print_usage};
+
 SRF05::SRF05(const uint8_t rotation) :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
 	_px4_rangefinder(0 /* no device type for GPIO input */, rotation)
@@ -114,7 +116,7 @@ SRF05::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -195,8 +197,8 @@ int SRF05::task_spawn(int argc, char *argv[])
 	SRF05 *instance = new SRF05(rotation);
 
 	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;
@@ -207,8 +209,8 @@ int SRF05::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;
 }
@@ -251,7 +253,7 @@ SRF05::print_status()
 
 extern "C" __EXPORT int srf05_main(int argc, char *argv[])
 {
-	return SRF05::main(argc, argv);
+	return ModuleBase::main(SRF05::desc, argc, argv);
 }
 #else
 # error ("GPIO_ULTRASOUND_xxx not defined. Driver not supported.");