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/heater/heater.cpp

@@ -48,6 +48,8 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_io_heater.h>
 
+ModuleBase::Descriptor Heater::desc{task_spawn, custom_command, print_usage};
+
 #if defined(BOARD_USES_PX4IO_VERSION) and defined(PX4IO_HEATER_ENABLED)
 // Heater on some boards is on IO MCU
 // Use ioctl calls to IO driver to turn heater on/off
@@ -75,7 +77,7 @@ Heater::~Heater()
 int 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;
 	}
@@ -180,7 +182,7 @@ void Heater::Run()
 		}
 
 #endif
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -292,8 +294,8 @@ int Heater::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	_object.store(heater);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(heater);
+	desc.task_id = task_id_is_work_queue;
 
 	heater->start();
 	return 0;
@@ -334,5 +336,5 @@ This task can be started at boot from the startup scripts by setting SENS_EN_THE
 
 extern "C" __EXPORT int heater_main(int argc, char *argv[])
 {
-	return Heater::main(argc, argv);
+	return ModuleBase::main(Heater::desc, argc, argv);
 }

src/drivers/heater/heater.h

@@ -60,9 +60,11 @@ using namespace time_literals;
 #define CONTROLLER_PERIOD_DEFAULT    10000
 #define TEMPERATURE_TARGET_THRESHOLD 2.5f
 
-class Heater : public ModuleBase<Heater>, public ModuleParams, public px4::ScheduledWorkItem
+class Heater : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	Heater();
 
 	virtual ~Heater();