Remove TactilityC and Firmware subprojects (#638)

- Removed TactilityC, moved its symbols to existing modules and several new ones (pthread-module, c-symbols-module, cpp-symbols-module, posix-symbols-module, freertos-module).
- Removed Firmware subproject and moved main() into Tactility subproject.
- Strengthened application archive, path, version, stack-size, and device validation.
- Moved symbol resolution for elf_loader to app-esp32-module.
- Improved `struct Module` declarations and made module and symbol definitions in modules more consistent.
- Removed old http download code from Tactility subproject.
- Rename app-module's source files for consistency.
- Add missing pthread symbols.
- Kernel module symbols are now resolvable on all platforms.

Modules/cpp-symbols-module/source/module.cpp

@@ -0,0 +1,95 @@
+// SPDX-License-Identifier: Apache-2.0
+#include <cpp_symbols/module.h>
+
+#include <cstddef>
+#include <cstdint>
+#include <new>
+#include <string>
+
+#if defined(__GLIBCXX__) || defined(ESP_PLATFORM)
+#define TT_CPP_SYMBOLS_AVAILABLE 1
+#include <bits/functexcept.h>
+#else
+#define TT_CPP_SYMBOLS_AVAILABLE 0
+#endif
+
+#if TT_CPP_SYMBOLS_AVAILABLE
+extern "C" {
+    // cplusplus: compiler/runtime ABI support
+#ifdef ESP_PLATFORM
+    // Mangled for a 32-bit ABI ("j" = unsigned int, i.e. size_t on ESP32's ILP32). A 64-bit host's
+    // libstdc++ exports these under different (m-suffixed) mangled names, so they don't apply there.
+    extern void* _Znwj(uint32_t size); // operator new(unsigned int)
+    extern void _ZdlPvj(void* p, uint64_t size); // operator delete(void*, unsigned int)
+#endif
+    extern void __cxa_pure_virtual();
+    // cxx_guards.cpp
+    extern int __cxa_guard_acquire(void* pg);
+    extern void __cxa_guard_release(void* pg) throw();
+    extern void __cxa_guard_abort(void* pg) throw();
+#ifdef ESP_PLATFORM
+    // Not part of the Itanium C++ ABI that desktop libstdc++ implements; ESP-IDF's toolchain only.
+    extern void __cxa_guard_dummy(void);
+#endif
+
+    // stl: std::map / std::set red-black tree non-template helpers. We use the mangled names
+    // directly (same pattern as the basic_string cold path below) to avoid ambiguity from the
+    // overloaded const/non-const variants in stl_tree.h.
+    void* _ZSt18_Rb_tree_decrementPSt18_Rb_tree_node_base(void*);
+    void* _ZSt18_Rb_tree_incrementPSt18_Rb_tree_node_base(void*);
+    void  _ZSt29_Rb_tree_insert_and_rebalancebPSt18_Rb_tree_node_baseS0_RS_(bool, void*, void*, void*);
+
+#ifdef ESP_PLATFORM
+    // string - same 32-bit-ABI mangling caveat as operator new/delete above.
+    void _ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE15_M_replace_coldEPcjPKcjj(void*, char*, unsigned int, char const*, unsigned int, unsigned int);
+#endif
+}
+#endif
+
+static const ModuleSymbol SYMBOLS[] = {
+#if TT_CPP_SYMBOLS_AVAILABLE
+    // cplusplus
+#ifdef ESP_PLATFORM
+    DEFINE_MODULE_SYMBOL(_Znwj), // operator new(unsigned int)
+    DEFINE_MODULE_SYMBOL(_ZdlPvj), // operator delete(void*, unsigned int)
+#endif
+    { "_ZSt7nothrow", (void*)&std::nothrow },
+    DEFINE_MODULE_SYMBOL(__cxa_pure_virtual), // class-related, see https://arobenko.github.io/bare_metal_cpp/
+    DEFINE_MODULE_SYMBOL(__cxa_guard_acquire),
+    DEFINE_MODULE_SYMBOL(__cxa_guard_release),
+    DEFINE_MODULE_SYMBOL(__cxa_guard_abort),
+#ifdef ESP_PLATFORM
+    DEFINE_MODULE_SYMBOL(__cxa_guard_dummy),
+#endif
+    // stl - Note: You have to use the mangled names here
+    { "_ZSt17__throw_bad_allocv", (void*)&(std::__throw_bad_alloc) },
+    { "_ZSt28__throw_bad_array_new_lengthv", (void*)&(std::__throw_bad_array_new_length) },
+    { "_ZSt25__throw_bad_function_callv", (void*)&(std::__throw_bad_function_call) },
+    { "_ZSt20__throw_length_errorPKc", (void*)&(std::__throw_length_error) },
+    { "_ZSt19__throw_logic_errorPKc", (void*)&std::__throw_logic_error },
+    { "_ZSt24__throw_out_of_range_fmtPKcz", (void*)&std::__throw_out_of_range_fmt },
+    { "_ZSt20__throw_system_errori", (void*)&std::__throw_system_error },
+    // stl - std::map / std::set (red-black tree internals)
+    DEFINE_MODULE_SYMBOL(_ZSt18_Rb_tree_decrementPSt18_Rb_tree_node_base),
+    DEFINE_MODULE_SYMBOL(_ZSt18_Rb_tree_incrementPSt18_Rb_tree_node_base),
+    DEFINE_MODULE_SYMBOL(_ZSt29_Rb_tree_insert_and_rebalancebPSt18_Rb_tree_node_baseS0_RS_),
+#ifdef ESP_PLATFORM
+    // string - Note: You have to use the mangled names here
+    DEFINE_MODULE_SYMBOL(_ZNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEE15_M_replace_coldEPcjPKcjj),
+#endif
+#endif // TT_CPP_SYMBOLS_AVAILABLE
+    MODULE_SYMBOL_TERMINATOR
+};
+
+extern "C" {
+
+Module cpp_symbols_module = {
+    .name = "cpp-symbols",
+    .start = nullptr,
+    .stop = nullptr,
+    .drivers = nullptr,
+    .symbols = SYMBOLS,
+    .internal = nullptr,
+};
+
+}