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/vtx/VTX.cpp

@@ -41,6 +41,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor VTX::desc{task_spawn, custom_command, print_usage};
+
 VTX::VTX(const char *device) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(device)),
@@ -99,7 +101,7 @@ void VTX::Run()
 	static constexpr auto _INTERVAL{50_ms};
 
 	if (should_exit()) {
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -338,7 +340,7 @@ void VTX::handle_uorb()
 int VTX::custom_command(int argc, char *argv[])
 {
 	if (!strcmp(argv[0], "start")) {
-		if (is_running()) {
+		if (is_running(desc)) {
 			return print_usage("already running");
 		}
 
@@ -349,7 +351,7 @@ int VTX::custom_command(int argc, char *argv[])
 		}
 	}
 
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		return print_usage("not running");
 	}
 
@@ -393,8 +395,8 @@ int VTX::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();
 
@@ -478,5 +480,5 @@ Supported protocols are:
 
 extern "C" __EXPORT int vtx_main(int argc, char *argv[])
 {
-	return VTX::main(argc, argv);
+	return ModuleBase::main(VTX::desc, argc, argv);
 }

src/drivers/vtx/VTX.hpp

@@ -56,10 +56,12 @@
 /**
  * @author Niklas Hauser <niklas@auterion.com>
  */
-class VTX : public ModuleBase<VTX>, public ModuleParams, public px4::ScheduledWorkItem
+class VTX : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
 
+	static Descriptor desc;
+
 	VTX(const char *device);
 	virtual ~VTX();