Implement posix app loading (#643)

- Added POSIX desktop support for SDK builds, application packaging, and integration testing.
- Added POSIX filesystem partitions and improved application path handling.
- Added simulator support for loading and running applications dynamically.
- Improved simulator task stack handling and display startup reliability.
- Improved simulator display scaling, resizing, high-DPI support, and pointer accuracy.
- Fixed LVGL timers and input polling on POSIX. (fixes simulator with Linux on some Intel graphics platforms)
- Standardized data paths across platforms.
- Logging now works via separate task: this allows apps to write to log without it affecting their stdout (for apps that output text as relevant date for other apps, like the File Selection app)
- Fixes for app stdio

Buildscripts/TactilitySDK/TactilitySDK.esp32.cmake

@@ -4,7 +4,12 @@ endfunction()
 function(_tactility_project)
 endfunction()
 
-macro(tactility_project project_name)
+macro(tactility_project_pre project_name)
+    include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+    set(EXTRA_COMPONENT_DIRS ${TACTILITY_SDK_PATH} ${TACTILITY_SDK_PATH}/Modules)
+endmacro()
+
+macro(tactility_project_post project_name)
     set(TACTILITY_SKIP_SPIFFS 1)
 
     # Tactility's PanicHandler.cpp needs s0 to stay a frame pointer to capture a callstack for
@@ -45,3 +50,13 @@ macro(tactility_project project_name)
     )
 
 endmacro()
+
+macro(tactility_component_register)
+    cmake_parse_arguments(TT_COMPONENT "" "" "SRCS;INCLUDE_DIRS;REQUIRES;PRIV_REQUIRES" ${ARGN})
+    idf_component_register(
+        SRCS ${TT_COMPONENT_SRCS}
+        INCLUDE_DIRS ${TT_COMPONENT_INCLUDE_DIRS}
+        REQUIRES TactilitySDK ${TT_COMPONENT_REQUIRES}
+        PRIV_REQUIRES ${TT_COMPONENT_PRIV_REQUIRES}
+    )
+endmacro()

Buildscripts/TactilitySDK/TactilitySDK.posix.cmake

@@ -0,0 +1,51 @@
+function(tactility_project)
+endfunction()
+
+function(_tactility_project)
+endfunction()
+
+macro(tactility_project_pre project_name)
+endmacro()
+
+macro(tactility_project_post project_name)
+    # The app's own library target is defined in a subdirectory (e.g. "main"); without this it
+    # would land nested under that subdirectory instead of directly in the build dir.
+    set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
+
+    # Mirrors the ESP-IDF "TactilitySDK" component (Buildscripts/TactilitySDK/CMakeLists.txt):
+    # apps link against this single target instead of listing SDK include dirs themselves.
+    # Posix apps are dlopen()ed into a running Tactility process (see app-posix-module) and
+    # resolve symbols against Tactility's own copies at load time, so headers are all they need
+    # at compile time - no libraries to link.
+    add_library(TactilitySDK INTERFACE)
+    target_include_directories(TactilitySDK INTERFACE
+        ${TACTILITY_SDK_PATH}/Modules/app-module/include
+        ${TACTILITY_SDK_PATH}/Modules/crypt-module/include
+        ${TACTILITY_SDK_PATH}/Modules/gps-module/include
+        ${TACTILITY_SDK_PATH}/Modules/lvgl-module/include
+        ${TACTILITY_SDK_PATH}/Modules/lvgl-window-manager-module/include
+        ${TACTILITY_SDK_PATH}/Modules/service-module/include
+        ${TACTILITY_SDK_PATH}/Libraries/TactilityKernel/include
+        ${TACTILITY_SDK_PATH}/Libraries/lvgl/include
+        ${TACTILITY_SDK_PATH}/Libraries/FreeRTOS-Kernel/include
+        ${TACTILITY_SDK_PATH}/Libraries/FreeRTOS-Kernel/portable/ThirdParty/GCC/Posix
+        ${TACTILITY_SDK_PATH}/Libraries/FreeRTOS-Kernel/portable/ThirdParty/GCC/Posix/utils
+    )
+    target_compile_definitions(TactilitySDK INTERFACE LV_LVGL_H_INCLUDE_SIMPLE)
+
+    # ESP-IDF's project() auto-discovers the "main" component; plain CMake doesn't.
+    add_subdirectory(main)
+endmacro()
+
+macro(tactility_component_register)
+    cmake_parse_arguments(TT_COMPONENT "" "" "SRCS;INCLUDE_DIRS;REQUIRES;PRIV_REQUIRES" ${ARGN})
+    # Must be a SHARED object, not a -pie executable: glibc's dlopen() unconditionally refuses
+    # any ET_DYN carrying the DF_1_PIE flag ("cannot dynamically load position-independent
+    # executable"), regardless of whether it has a dynamic-linker segment - verified empirically.
+    add_library(${PROJECT_NAME} SHARED ${TT_COMPONENT_SRCS})
+    target_link_libraries(${PROJECT_NAME} PRIVATE TactilitySDK)
+    set_target_properties(${PROJECT_NAME} PROPERTIES POSITION_INDEPENDENT_CODE ON)
+    if (TT_COMPONENT_INCLUDE_DIRS)
+        target_include_directories(${PROJECT_NAME} PRIVATE ${TT_COMPONENT_INCLUDE_DIRS})
+    endif ()
+endmacro()