Create hal-device module, fix GPIO, fix tests, fix TactilityC (#471)

* **New Features**
  * Added a HAL device module providing device enumeration, type queries and a HAL↔kernel bridge.

* **Improvements**
  * Integrated HAL module into startup; standardized module names, includes and lifecycle logging; safer file append behavior; broader build support.

* **API Changes**
  * Driver lifecycle now uses explicit add/remove semantics; C and HAL device type/lookup APIs clarified.

* **Chores**
  * Added module README and Apache‑2.0 license; updated build configuration to include the new module.

* **Fixes**
  * Updated tests and object file handling to behave correctly.

Tests/TactilityKernel/CMakeLists.txt

@@ -11,4 +11,8 @@ target_include_directories(TactilityKernelTests PRIVATE ${DOCTESTINC})
 
 add_test(NAME TactilityKernelTests COMMAND TactilityKernelTests)
 
-target_link_libraries(TactilityKernelTests PUBLIC TactilityKernel)
+target_link_libraries(TactilityKernelTests PUBLIC
+    TactilityKernel
+    PlatformPosix
+    hal-device
+)

Tests/TactilityKernel/DeviceTest.cpp

@@ -177,7 +177,7 @@ TEST_CASE("device_is_ready should return true only when it is started") {
 
     Device device = { 0 };
 
-    CHECK_EQ(driver_construct(&driver), ERROR_NONE);
+    CHECK_EQ(driver_construct_add(&driver), ERROR_NONE);
     CHECK_EQ(device_construct(&device), ERROR_NONE);
 
     CHECK_EQ(device.internal.state.started, false);
@@ -192,6 +192,6 @@ TEST_CASE("device_is_ready should return true only when it is started") {
     CHECK_EQ(device_remove(&device), ERROR_NONE);
     CHECK_EQ(device.internal.state.started, false);
 
-    CHECK_EQ(driver_destruct(&driver), ERROR_NONE);
     CHECK_EQ(device_destruct(&device), ERROR_NONE);
+    CHECK_EQ(driver_remove_destruct(&driver), ERROR_NONE);
 }

Tests/TactilityKernel/DriverIntegrationTest.cpp

@@ -55,7 +55,7 @@ TEST_CASE("driver with with start success and stop success should start and stop
         .parent = nullptr,
     };
 
-    CHECK_EQ(driver_construct(&integration_driver), ERROR_NONE);
+    CHECK_EQ(driver_construct_add(&integration_driver), ERROR_NONE);
 
     CHECK_EQ(device_construct(&integration_device), ERROR_NONE);
     device_add(&integration_device);
@@ -68,5 +68,5 @@ TEST_CASE("driver with with start success and stop success should start and stop
     CHECK_EQ(device_remove(&integration_device), ERROR_NONE);
     CHECK_EQ(device_destruct(&integration_device), ERROR_NONE);
 
-    CHECK_EQ(driver_destruct(&integration_driver), ERROR_NONE);
+    CHECK_EQ(driver_remove_destruct(&integration_driver), ERROR_NONE);
 }

Tests/TactilityKernel/DriverTest.cpp

@@ -14,7 +14,9 @@ TEST_CASE("driver_construct and driver_destruct should set and unset the correct
     driver.owner = &module;
 
     CHECK_EQ(driver_construct(&driver), ERROR_NONE);
+    CHECK_EQ(driver_add(&driver), ERROR_NONE);
     CHECK_NE(driver.driver_private, nullptr);
+    CHECK_EQ(driver_remove(&driver), ERROR_NONE);
     CHECK_EQ(driver_destruct(&driver), ERROR_NONE);
     CHECK_EQ(driver.driver_private, nullptr);
 }
@@ -62,10 +64,12 @@ TEST_CASE("driver_find should only find a compatible driver when the driver was
     CHECK_EQ(found_driver, nullptr);
 
     CHECK_EQ(driver_construct(&driver), ERROR_NONE);
+    CHECK_EQ(driver_add(&driver), ERROR_NONE);
 
     found_driver = driver_find_compatible("test_compatible");
     CHECK_EQ(found_driver, &driver);
 
+    CHECK_EQ(driver_remove(&driver), ERROR_NONE);
     CHECK_EQ(driver_destruct(&driver), ERROR_NONE);
 
     found_driver = driver_find_compatible("test_compatible");

Tests/TactilityKernel/Main.cpp

@@ -3,6 +3,7 @@
 #include <cassert>
 
 #include <tactility/freertos/task.h>
+#include <tactility/kernel_init.h>
 
 typedef struct {
     int argc;
@@ -10,6 +11,11 @@ typedef struct {
     int result;
 } TestTaskData;
 
+extern "C" {
+// From the relevant platform
+extern struct Module platform_module;
+}
+
 void test_task(void* parameter) {
     auto* data = (TestTaskData*)parameter;
 
@@ -20,6 +26,8 @@ void test_task(void* parameter) {
     // overrides
     context.setOption("no-breaks", true); // don't break in the debugger when assertions fail
 
+    check(kernel_init(&platform_module, nullptr, nullptr) == ERROR_NONE);
+
     data->result = context.run();
 
     vTaskEndScheduler();