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/systemcmds/i2c_launcher/i2c_launcher.cpp

@@ -68,7 +68,7 @@ void I2CLauncher::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -189,6 +189,11 @@ void I2CLauncher::scan_i2c_bus(int bus, int batt_index)
 	px4_i2cbus_uninitialize(i2c_dev);
 }
 
+int I2CLauncher::task_spawn(int argc, char *argv[])
+{
+	return -1;
+}
+
 int I2CLauncher::custom_command(int argc, char *argv[])
 {
 	return print_usage("unknown command");
@@ -216,6 +221,8 @@ Daemon that starts drivers based on found I2C devices.
 	return 0;
 }
 
+ModuleBase::Descriptor I2CLauncher::desc{task_spawn, custom_command, print_usage};
+
 extern "C" __EXPORT int i2c_launcher_main(int argc, char *argv[])
 {
 	using ThisDriver = I2CLauncher;

src/systemcmds/i2c_launcher/i2c_launcher.hpp

@@ -48,9 +48,11 @@
 
 using namespace time_literals;
 
-class I2CLauncher : public ModuleBase<I2CLauncher>, public ModuleParams, public px4::ScheduledWorkItem
+class I2CLauncher : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	I2CLauncher(int bus, int batt_index);
 
 	~I2CLauncher() override;