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/examples/fake_imu/FakeImu.cpp

@@ -35,6 +35,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor FakeImu::desc{task_spawn, custom_command, print_usage};
+
 FakeImu::FakeImu() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
@@ -60,7 +62,7 @@ void FakeImu::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -168,8 +170,8 @@ int FakeImu::task_spawn(int argc, char *argv[])
 	FakeImu *instance = new FakeImu();
 
 	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()) {
 			return PX4_OK;
@@ -180,8 +182,8 @@ int FakeImu::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;
 }
@@ -211,5 +213,5 @@ int FakeImu::print_usage(const char *reason)
 
 extern "C" __EXPORT int fake_imu_main(int argc, char *argv[])
 {
-	return FakeImu::main(argc, argv);
+	return ModuleBase::main(FakeImu::desc, argc, argv);
 }

src/examples/fake_imu/FakeImu.hpp

@@ -51,9 +51,11 @@
 # include <uORB/topics/esc_status.h>
 #endif // FAKE_IMU_FAKE_ESC_STATUS
 
-class FakeImu : public ModuleBase<FakeImu>, public ModuleParams, public px4::ScheduledWorkItem
+class FakeImu : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	FakeImu();
 	~FakeImu() override = default;