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/telemetry/iridiumsbd/IridiumSBD.cpp

@@ -47,6 +47,8 @@
 #include <systemlib/err.h>
 #include <parameters/param.h>
 
+ModuleBase::Descriptor IridiumSBD::desc{task_spawn, custom_command, print_usage};
+
 static constexpr const char *satcom_state_string[4] = {"STANDBY", "SIGNAL CHECK", "SBD SESSION", "TEST"};
 
 #define VERBOSE_INFO(...) if (_verbose) { PX4_INFO(__VA_ARGS__); }
@@ -63,23 +65,30 @@ IridiumSBD::~IridiumSBD()
 	deinit();
 }
 
+int IridiumSBD::run_trampoline(int argc, char *argv[])
+{
+	return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
+		return IridiumSBD::instantiate(ac, av);
+	}, argc, argv);
+}
+
 int IridiumSBD::task_spawn(int argc, char *argv[])
 {
-	_task_id = px4_task_spawn_cmd("iridiumsbd",
-				      SCHED_DEFAULT,
-				      SCHED_PRIORITY_SLOW_DRIVER,
-				      1350,
-				      (px4_main_t)&run_trampoline,
-				      (char *const *)argv);
+	desc.task_id = px4_task_spawn_cmd("iridiumsbd",
+					  SCHED_DEFAULT,
+					  SCHED_PRIORITY_SLOW_DRIVER,
+					  1350,
+					  (px4_main_t)&run_trampoline,
+					  (char *const *)argv);
 
-	if (_task_id < 0) {
-		_task_id = -1;
+	if (desc.task_id < 0) {
+		desc.task_id = -1;
 		return -errno;
 	}
 
 	// wait until task is up & running (max 6 seconds)
-	if (wait_until_running(6000) < 0) {
-		_task_id = -1;
+	if (wait_until_running(desc, 6000) < 0) {
+		desc.task_id = -1;
 		return -1;
 	}
 
@@ -1080,13 +1089,13 @@ Creates a virtual serial port that another module can use for communication (e.g
 
 int IridiumSBD::custom_command(int argc, char *argv[])
 {
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		print_usage("not running");
 		return 1;
 	}
 
 	if (!strcmp(argv[0], "test")) {
-		get_instance()->test(argc, argv);
+		get_instance<IridiumSBD>(desc)->test(argc, argv);
 		return 0;
 	}
 
@@ -1095,12 +1104,12 @@ int IridiumSBD::custom_command(int argc, char *argv[])
 
 extern "C" __EXPORT int iridiumsbd_main(int argc, char *argv[])
 {
-	if (argc >= 2 && !strcmp(argv[1], "stop") && IridiumSBD::is_running()) {
+	if (argc >= 2 && !strcmp(argv[1], "stop") && IridiumSBD::is_running(IridiumSBD::desc)) {
 		if (!IridiumSBD::can_stop()) {
 			PX4_ERR("Device is used. Stop all users first (mavlink stop-all)");
 			return -1;
 		}
 	}
 
-	return IridiumSBD::main(argc, argv);
+	return ModuleBase::main(IridiumSBD::desc, argc, argv);
 }

src/drivers/telemetry/iridiumsbd/IridiumSBD.h

@@ -99,15 +99,20 @@ typedef enum {
  * 	- Improve TX buffer handling:
  * 		- Do not reset the full TX buffer but delete the oldest HIGH_LATENCY2 message if one is in the buffer or delete the oldest message in general
  */
-class IridiumSBD : public cdev::CDev, public ModuleBase<IridiumSBD>
+class IridiumSBD : public cdev::CDev, public ModuleBase
 {
 public:
+	static Descriptor desc;
+
 	IridiumSBD();
 	~IridiumSBD();
 
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
 
+	/** @see ModuleBase */
+	static int run_trampoline(int argc, char *argv[]);
+
 	/** @see ModuleBase */
 	static IridiumSBD *instantiate(int argc, char *argv[]);
 
@@ -136,7 +141,7 @@ public:
 	 */
 	int ioctl(struct file *filp, int cmd, unsigned long arg);
 
-	static bool can_stop() { return !get_instance()->_cdev_used.load(); }
+	static bool can_stop() { return !get_instance<IridiumSBD>(desc)->_cdev_used.load(); }
 
 private:
 	int init(int argc, char *argv[]);