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/rc/crsf_rc/CrsfRc.cpp

@@ -44,6 +44,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor CrsfRc::desc{task_spawn, custom_command, print_usage};
+
 #define CRSF_BAUDRATE 420000
 
 CrsfRc::CrsfRc(const char *device) :
@@ -109,8 +111,8 @@ int CrsfRc::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	_object.store(instance);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(instance);
+	desc.task_id = task_id_is_work_queue;
 
 	instance->ScheduleNow();
 
@@ -128,7 +130,7 @@ void CrsfRc::Run()
 			_uart = nullptr;
 		}
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -548,7 +550,7 @@ int CrsfRc::custom_command(int argc, char *argv[])
 #ifdef CONFIG_RC_CRSF_INJECT
 
 	if (!strcmp(argv[0], "start")) {
-		if (is_running()) {
+		if (is_running(desc)) {
 			return print_usage("already running");
 		}
 
@@ -559,7 +561,7 @@ int CrsfRc::custom_command(int argc, char *argv[])
 		}
 	}
 
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		return print_usage("not running");
 	}
 
@@ -612,5 +614,5 @@ This module parses the CRSF RC uplink protocol and generates CRSF downlink telem
 
 extern "C" __EXPORT int crsf_rc_main(int argc, char *argv[])
 {
-	return CrsfRc::main(argc, argv);
+	return ModuleBase::main(CrsfRc::desc, argc, argv);
 }

src/drivers/rc/crsf_rc/CrsfRc.hpp

@@ -56,9 +56,11 @@
 
 using namespace device;
 
-class CrsfRc : public ModuleBase<CrsfRc>, public ModuleParams, public px4::ScheduledWorkItem
+class CrsfRc : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	CrsfRc(const char *device);
 	~CrsfRc() override;
 

src/drivers/rc/dsm_rc/DsmRc.cpp

@@ -39,6 +39,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor DsmRc::desc{task_spawn, custom_command, print_usage};
+
 DsmRc::DsmRc(const char *device) :
 	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(device)),
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")),
@@ -106,8 +108,8 @@ int DsmRc::task_spawn(int argc, char *argv[])
 			return PX4_ERROR;
 		}
 
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		instance->ScheduleOnInterval(_current_update_interval);
 
@@ -136,7 +138,7 @@ void DsmRc::Run()
 
 		dsm_deinit();
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -362,7 +364,7 @@ int DsmRc::custom_command(int argc, char *argv[])
 
 #endif // SPEKTRUM_POWER
 
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		int ret = DsmRc::task_spawn(argc, argv);
 
 		if (ret) {
@@ -419,5 +421,5 @@ This module does Spektrum DSM RC input parsing.
 
 extern "C" __EXPORT int dsm_rc_main(int argc, char *argv[])
 {
-	return DsmRc::main(argc, argv);
+	return ModuleBase::main(DsmRc::desc, argc, argv);
 }

src/drivers/rc/dsm_rc/DsmRc.hpp

@@ -52,10 +52,12 @@
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_status.h>
 
-class DsmRc : public ModuleBase<DsmRc>, public px4::ScheduledWorkItem
+class DsmRc : public ModuleBase, public px4::ScheduledWorkItem
 {
 public:
 
+	static Descriptor desc;
+
 	DsmRc(const char *device);
 	virtual ~DsmRc();
 

src/drivers/rc/ghst_rc/GhstRc.cpp

@@ -36,6 +36,8 @@
 #include <termios.h>
 #include <math.h>
 
+ModuleBase::Descriptor GhstRc::desc{task_spawn, custom_command, print_usage};
+
 GhstRc::GhstRc(const char *device) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(device)),
@@ -101,8 +103,8 @@ int GhstRc::task_spawn(int argc, char *argv[])
 			return PX4_ERROR;
 		}
 
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		instance->ScheduleOnInterval(_current_update_interval);
 
@@ -129,7 +131,7 @@ void GhstRc::Run()
 
 		close(_rcs_fd);
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -255,7 +257,7 @@ void GhstRc::Run()
 
 int GhstRc::custom_command(int argc, char *argv[])
 {
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		int ret = GhstRc::task_spawn(argc, argv);
 
 		if (ret) {
@@ -307,5 +309,5 @@ This module does Ghost (GHST) RC input parsing.
 
 extern "C" __EXPORT int ghst_rc_main(int argc, char *argv[])
 {
-	return GhstRc::main(argc, argv);
+	return ModuleBase::main(GhstRc::desc, argc, argv);
 }

src/drivers/rc/ghst_rc/GhstRc.hpp

@@ -55,10 +55,12 @@
 
 using namespace time_literals;
 
-class GhstRc : public ModuleBase<GhstRc>, public ModuleParams, public px4::ScheduledWorkItem
+class GhstRc : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
 
+	static Descriptor desc;
+
 	GhstRc(const char *device);
 	virtual ~GhstRc();
 

src/drivers/rc/sbus_rc/SbusRc.cpp

@@ -35,6 +35,8 @@
 
 #include <termios.h>
 
+ModuleBase::Descriptor SbusRc::desc{task_spawn, custom_command, print_usage};
+
 SbusRc::SbusRc(const char *device) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(device)),
@@ -98,8 +100,8 @@ int SbusRc::task_spawn(int argc, char *argv[])
 			return PX4_ERROR;
 		}
 
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		instance->ScheduleOnInterval(_current_update_interval);
 
@@ -126,7 +128,7 @@ void SbusRc::Run()
 
 		close(_rcs_fd);
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -265,7 +267,7 @@ void SbusRc::Run()
 
 int SbusRc::custom_command(int argc, char *argv[])
 {
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		int ret = SbusRc::task_spawn(argc, argv);
 
 		if (ret) {
@@ -317,5 +319,5 @@ This module does SBUS RC input parsing.
 
 extern "C" __EXPORT int sbus_rc_main(int argc, char *argv[])
 {
-	return SbusRc::main(argc, argv);
+	return ModuleBase::main(SbusRc::desc, argc, argv);
 }

src/drivers/rc/sbus_rc/SbusRc.hpp

@@ -53,10 +53,12 @@
 
 using namespace time_literals;
 
-class SbusRc : public ModuleBase<SbusRc>, public ModuleParams, public px4::ScheduledWorkItem
+class SbusRc : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
 
+	static Descriptor desc;
+
 	SbusRc(const char *device);
 	virtual ~SbusRc();