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/rover_mecanum/RoverMecanum.cpp

@@ -35,6 +35,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor RoverMecanum::desc{task_spawn, custom_command, print_usage};
+
 RoverMecanum::RoverMecanum() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
@@ -195,8 +197,8 @@ int RoverMecanum::task_spawn(int argc, char *argv[])
 	RoverMecanum *instance = new RoverMecanum();
 
 	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;
@@ -207,8 +209,8 @@ int RoverMecanum::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;
 }
@@ -238,5 +240,5 @@ Rover mecanum module.
 
 extern "C" __EXPORT int rover_mecanum_main(int argc, char *argv[])
 {
-	return RoverMecanum::main(argc, argv);
+	return ModuleBase::main(RoverMecanum::desc, argc, argv);
 }

src/modules/rover_mecanum/RoverMecanum.hpp

@@ -59,10 +59,12 @@
 #include "MecanumDriveModes/MecanumManualMode/MecanumManualMode.hpp"
 #include "MecanumDriveModes/MecanumOffboardMode/MecanumOffboardMode.hpp"
 
-class RoverMecanum : public ModuleBase<RoverMecanum>, public ModuleParams,
+class RoverMecanum : public ModuleBase, public ModuleParams,
 	public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	/**
 	 * @brief Constructor for RoverMecanum
 	 */