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/templates/template_module/template_module.cpp

@@ -68,17 +68,24 @@ int TemplateModule::custom_command(int argc, char *argv[])
 }
 
 
+int TemplateModule::run_trampoline(int argc, char *argv[])
+{
+	return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
+		return TemplateModule::instantiate(ac, av);
+	}, argc, argv);
+}
+
 int TemplateModule::task_spawn(int argc, char *argv[])
 {
-	_task_id = px4_task_spawn_cmd("module",
-				      SCHED_DEFAULT,
-				      SCHED_PRIORITY_DEFAULT,
-				      1024,
-				      (px4_main_t)&run_trampoline,
-				      (char *const *)argv);
+	desc.task_id = px4_task_spawn_cmd("module",
+					  SCHED_DEFAULT,
+					  SCHED_PRIORITY_DEFAULT,
+					  1024,
+					  (px4_main_t)&run_trampoline,
+					  (char *const *)argv);
 
-	if (_task_id < 0) {
-		_task_id = -1;
+	if (desc.task_id < 0) {
+		desc.task_id = -1;
 		return -errno;
 	}
 
@@ -221,5 +228,5 @@ $ module start -f -p 42
 
 int template_module_main(int argc, char *argv[])
 {
-	return TemplateModule::main(argc, argv);
+	return ModuleBase::main(TemplateModule::desc, argc, argv);
 }

src/templates/template_module/template_module.h

@@ -56,6 +56,8 @@ public:
 	/** @see ModuleBase */
 	static TemplateModule *instantiate(int argc, char *argv[]);
 
+	static int run_trampoline(int argc, char *argv[]);
+
 	/** @see ModuleBase */
 	static int custom_command(int argc, char *argv[]);