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/linux_pwm_out/linux_pwm_out.cpp

@@ -40,6 +40,8 @@
 
 using namespace pwm_out;
 
+ModuleBase::Descriptor LinuxPWMOut::desc{task_spawn, custom_command, print_usage};
+
 LinuxPWMOut::LinuxPWMOut() :
 	OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
@@ -77,8 +79,8 @@ int LinuxPWMOut::task_spawn(int argc, char *argv[])
 	LinuxPWMOut *instance = new LinuxPWMOut();
 
 	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;
@@ -89,8 +91,8 @@ int LinuxPWMOut::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;
 }
@@ -108,7 +110,7 @@ void LinuxPWMOut::Run()
 		ScheduleClear();
 		_mixing_output.unregister();
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -166,5 +168,5 @@ Linux PWM output driver with board-specific backend implementation.
 
 extern "C" __EXPORT int linux_pwm_out_main(int argc, char *argv[])
 {
-	return LinuxPWMOut::main(argc, argv);
+	return ModuleBase::main(LinuxPWMOut::desc, argc, argv);
 }

src/drivers/linux_pwm_out/linux_pwm_out.hpp

@@ -49,9 +49,11 @@
 
 using namespace time_literals;
 
-class LinuxPWMOut : public ModuleBase<LinuxPWMOut>, public OutputModuleInterface
+class LinuxPWMOut : public ModuleBase, public OutputModuleInterface
 {
 public:
+	static Descriptor desc;
+
 	LinuxPWMOut();
 	virtual ~LinuxPWMOut();