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/modules/control_allocator/ControlAllocator.cpp

@@ -49,6 +49,8 @@
 using namespace matrix;
 using namespace time_literals;
 
+ModuleBase::Descriptor ControlAllocator::desc{task_spawn, custom_command, print_usage};
+
 ControlAllocator::ControlAllocator() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
@@ -306,7 +308,7 @@ ControlAllocator::Run()
 {
 	if (should_exit()) {
 		_vehicle_torque_setpoint_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -818,8 +820,8 @@ int ControlAllocator::task_spawn(int argc, char *argv[])
 	ControlAllocator *instance = new ControlAllocator();
 
 	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;
@@ -830,8 +832,8 @@ int ControlAllocator::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;
 }
@@ -1021,5 +1023,5 @@ extern "C" __EXPORT int control_allocator_main(int argc, char *argv[]);
 
 int control_allocator_main(int argc, char *argv[])
 {
-	return ControlAllocator::main(argc, argv);
+	return ModuleBase::main(ControlAllocator::desc, argc, argv);
 }

src/modules/control_allocator/ControlAllocator.hpp

@@ -80,9 +80,11 @@
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/failure_detector_status.h>
 
-class ControlAllocator : public ModuleBase<ControlAllocator>, public ModuleParams, public px4::ScheduledWorkItem
+class ControlAllocator : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	static constexpr int NUM_ACTUATORS = ControlAllocation::NUM_ACTUATORS;
 	static constexpr int NUM_AXES = ControlAllocation::NUM_AXES;