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/pwm_input/pwm_input.cpp

@@ -34,6 +34,8 @@
 #include "pwm_input.h"
 #include <px4_arch/io_timer.h>
 
+ModuleBase::Descriptor PWMIN::desc{task_spawn, custom_command, print_usage};
+
 int
 PWMIN::task_spawn(int argc, char *argv[])
 {
@@ -44,8 +46,8 @@ PWMIN::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	_object.store(pwmin);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(pwmin);
+	desc.task_id = task_id_is_work_queue;
 
 	pwmin->start();
 
@@ -148,7 +150,7 @@ PWMIN::pwmin_tim_isr(int irq, void *context, void *arg)
 	/* ack the interrupts we just read */
 	rSR = 0;
 
-	auto obj = get_instance();
+	auto obj = get_instance<PWMIN>(desc);
 
 	if (obj != nullptr) {
 		obj->publish(status, period, pulse_width);
@@ -218,5 +220,5 @@ PWMIN::custom_command(int argc, char *argv[])
 
 extern "C" __EXPORT int pwm_input_main(int argc, char *argv[])
 {
-	return PWMIN::main(argc, argv);
+	return ModuleBase::main(PWMIN::desc, argc, argv);
 }

src/drivers/pwm_input/pwm_input.h

@@ -120,9 +120,11 @@
 #error PWMIN_TIMER_CHANNEL must be either 1 and 2.
 #endif
 
-class PWMIN : public ModuleBase<PWMIN>
+class PWMIN : public ModuleBase
 {
 public:
+	static Descriptor desc;
+
 	void start();
 	void publish(uint16_t status, uint32_t period, uint32_t pulse_width);
 	int print_status() override;