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/fw_rate_control/FixedwingRateControl.cpp

@@ -39,6 +39,8 @@ using namespace matrix;
 using math::interpolate;
 using math::radians;
 
+ModuleBase::Descriptor FixedwingRateControl::desc{task_spawn, custom_command, print_usage};
+
 FixedwingRateControl::FixedwingRateControl(bool vtol) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
@@ -204,7 +206,7 @@ void FixedwingRateControl::Run()
 {
 	if (should_exit()) {
 		_vehicle_angular_velocity_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -550,8 +552,8 @@ int FixedwingRateControl::task_spawn(int argc, char *argv[])
 	FixedwingRateControl *instance = new FixedwingRateControl(vtol);
 
 	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;
@@ -562,8 +564,8 @@ int FixedwingRateControl::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;
 }
@@ -596,5 +598,5 @@ fw_rate_control is the fixed-wing rate controller.
 
 extern "C" __EXPORT int fw_rate_control_main(int argc, char *argv[])
 {
-	return FixedwingRateControl::main(argc, argv);
+	return ModuleBase::main(FixedwingRateControl::desc, argc, argv);
 }

src/modules/fw_rate_control/FixedwingRateControl.hpp

@@ -79,10 +79,12 @@ using uORB::SubscriptionData;
 
 using namespace time_literals;
 
-class FixedwingRateControl final : public ModuleBase<FixedwingRateControl>, public ModuleParams,
+class FixedwingRateControl final : public ModuleBase, public ModuleParams,
 	public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	FixedwingRateControl(bool vtol = false);
 	~FixedwingRateControl() override;