Add kernel memory functions & other memory-related changes (#590)

New Features

- Added policy-based memory allocation APIs with capability flags and optional alignment: `memory_alloc_with_policy`, `memory_realloc_with_policy`, `memory_calloc_with_policy`, and `memory_free`.
- Switched heap memory reporting to `memory_print_stats`.

Bug Fixes

- Improved allocation robustness with capability fallback behavior.
- Added overflow-safe handling for aligned zero-initialized allocations.
- Tightened const-correctness for generated device-tree device arrays.

Tests

- Added unit tests for default policy, alignment, zero-initialization, realloc preservation, freeing, and memory stats reporting.

TactilityKernel/source/memory.cpp

@@ -9,7 +9,13 @@ constexpr auto* TAG = "memory";
 
 extern "C" {
 
-void memory_trace() {
+const struct MemoryPolicy MEMORY_POLICY_DEFAULT = {
+    .required = 0,
+    .desired = 0,
+    .alignment = 0,
+};
+
+void memory_print_stats() {
 #ifdef ESP_PLATFORM
     size_t heap_free = heap_caps_get_free_size(MALLOC_CAP_INTERNAL);
     size_t heap_total = heap_caps_get_total_size(MALLOC_CAP_INTERNAL);