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

Devices/simulator/Source/drivers/sdl_display.cpp

@@ -15,50 +15,46 @@ constexpr auto* TAG = "SdlDisplay";
 #define GET_CONFIG(device) (static_cast<const SdlDisplayConfig*>((device)->config))
 
 struct SdlDisplayInternal {
+    bool initialized;
+    bool init_failed;
     SDL_Window* window;
     SDL_Renderer* renderer;
     SDL_Texture* texture;
 };
 
+// Only one sdl-display device exists in the simulator; sdl_input.cpp uses this to map window
+// coordinates back to the fixed logical resolution SDL_RenderSetLogicalSize() scales to the window.
+static SdlDisplayInternal* g_display_internal = nullptr;
+
+SDL_Renderer* sdl_display_get_renderer(void) {
+    return g_display_internal != nullptr ? g_display_internal->renderer : nullptr;
+}
+
+// Re-blits the already-drawn texture at the renderer's current (possibly just-resized) scale.
+// No new pixel data needed: the window resizing doesn't change what LVGL last rendered, only how
+// large it should appear, and SDL only applies that until the next SDL_RenderPresent() call.
+void sdl_display_present_now(void) {
+    if (g_display_internal == nullptr) {
+        return;
+    }
+    SDL_RenderClear(g_display_internal->renderer);
+    SDL_RenderCopy(g_display_internal->renderer, g_display_internal->texture, nullptr, nullptr);
+    SDL_RenderPresent(g_display_internal->renderer);
+}
+
 // region Driver lifecycle
 
 static error_t start(Device* device) {
-    const auto* config = GET_CONFIG(device);
-
     auto* internal = static_cast<SdlDisplayInternal*>(malloc(sizeof(SdlDisplayInternal)));
     if (internal == nullptr) {
         return ERROR_OUT_OF_MEMORY;
     }
 
-    if (SDL_InitSubSystem(SDL_INIT_VIDEO) != 0) {
-        LOG_E(TAG, "SDL_InitSubSystem failed: %s", SDL_GetError());
-        free(internal);
-        return ERROR_RESOURCE;
-    }
-
-    internal->window = SDL_CreateWindow(
-        "Tactility",
-        SDL_WINDOWPOS_UNDEFINED, SDL_WINDOWPOS_UNDEFINED,
-        config->horizontal_resolution, config->vertical_resolution,
-        SDL_WINDOW_SHOWN
-    );
-    internal->renderer = internal->window != nullptr
-        ? SDL_CreateRenderer(internal->window, -1, SDL_RENDERER_ACCELERATED)
-        : nullptr;
-    internal->texture = internal->renderer != nullptr
-        ? SDL_CreateTexture(internal->renderer, SDL_PIXELFORMAT_RGB565, SDL_TEXTUREACCESS_STREAMING,
-            config->horizontal_resolution, config->vertical_resolution)
-        : nullptr;
-
-    if (internal->window == nullptr || internal->renderer == nullptr || internal->texture == nullptr) {
-        LOG_E(TAG, "Failed to create SDL window: %s", SDL_GetError());
-        if (internal->texture != nullptr) SDL_DestroyTexture(internal->texture);
-        if (internal->renderer != nullptr) SDL_DestroyRenderer(internal->renderer);
-        if (internal->window != nullptr) SDL_DestroyWindow(internal->window);
-        SDL_QuitSubSystem(SDL_INIT_VIDEO);
-        free(internal);
-        return ERROR_RESOURCE;
-    }
+    internal->initialized = false;
+    internal->init_failed = false;
+    internal->window = nullptr;
+    internal->renderer = nullptr;
+    internal->texture = nullptr;
 
     device_set_driver_data(device, internal);
     return ERROR_NONE;
@@ -67,10 +63,16 @@ static error_t start(Device* device) {
 static error_t stop(Device* device) {
     auto* internal = static_cast<SdlDisplayInternal*>(device_get_driver_data(device));
 
-    SDL_DestroyTexture(internal->texture);
-    SDL_DestroyRenderer(internal->renderer);
-    SDL_DestroyWindow(internal->window);
-    SDL_QuitSubSystem(SDL_INIT_VIDEO);
+    if (internal->initialized) {
+        SDL_DestroyTexture(internal->texture);
+        SDL_DestroyRenderer(internal->renderer);
+        SDL_DestroyWindow(internal->window);
+        SDL_QuitSubSystem(SDL_INIT_VIDEO);
+    }
+
+    if (g_display_internal == internal) {
+        g_display_internal = nullptr;
+    }
 
     free(internal);
     device_set_driver_data(device, nullptr);
@@ -84,18 +86,83 @@ static error_t stop(Device* device) {
 static error_t sdl_display_reset(Device*) { return ERROR_NONE; }
 static error_t sdl_display_init(Device*) { return ERROR_NONE; }
 
+static float sdl_display_get_dpi_scale() {
+    float hdpi = 96.0f;
+    if (SDL_GetDisplayDPI(0, nullptr, &hdpi, nullptr) != 0 || hdpi <= 0.0f) {
+        return 1.0f;
+    }
+    return hdpi / 96.0f;
+}
+
+static bool sdl_display_lazy_init(Device* device, SdlDisplayInternal* internal) {
+    const auto* config = GET_CONFIG(device);
+
+    if (SDL_InitSubSystem(SDL_INIT_VIDEO) != 0) {
+        LOG_E(TAG, "SDL_InitSubSystem failed: %s", SDL_GetError());
+        return false;
+    }
+
+    // Only the window's initial on-screen footprint scales here - the render/logical resolution
+    // (config->horizontal_resolution/vertical_resolution, used below for the texture and
+    // SDL_RenderSetLogicalSize()) is unaffected, same as any other resize the user does by hand.
+    const float dpi_scale = sdl_display_get_dpi_scale();
+    const int initial_width = static_cast<int>(config->horizontal_resolution * dpi_scale);
+    const int initial_height = static_cast<int>(config->vertical_resolution * dpi_scale);
+
+    internal->window = SDL_CreateWindow(
+        "Tactility",
+        SDL_WINDOWPOS_UNDEFINED, SDL_WINDOWPOS_UNDEFINED,
+        initial_width, initial_height,
+        SDL_WINDOW_SHOWN | SDL_WINDOW_RESIZABLE | SDL_WINDOW_ALLOW_HIGHDPI
+    );
+    internal->renderer = internal->window != nullptr
+        ? SDL_CreateRenderer(internal->window, -1, SDL_RENDERER_ACCELERATED)
+        : nullptr;
+    // Lets the window be resized freely while the renderer scales/letterboxes the fixed-resolution
+    // texture below to fit - LVGL keeps rendering at horizontal_resolution x vertical_resolution.
+    if (internal->renderer != nullptr) {
+        SDL_RenderSetLogicalSize(internal->renderer, config->horizontal_resolution, config->vertical_resolution);
+    }
+    internal->texture = internal->renderer != nullptr
+        ? SDL_CreateTexture(internal->renderer, SDL_PIXELFORMAT_RGB565, SDL_TEXTUREACCESS_STREAMING,
+            config->horizontal_resolution, config->vertical_resolution)
+        : nullptr;
+
+    if (internal->window == nullptr || internal->renderer == nullptr || internal->texture == nullptr) {
+        LOG_E(TAG, "Failed to create SDL window: %s", SDL_GetError());
+        if (internal->texture != nullptr) SDL_DestroyTexture(internal->texture);
+        if (internal->renderer != nullptr) SDL_DestroyRenderer(internal->renderer);
+        if (internal->window != nullptr) SDL_DestroyWindow(internal->window);
+        SDL_QuitSubSystem(SDL_INIT_VIDEO);
+        return false;
+    }
+
+    g_display_internal = internal;
+    return true;
+}
+
 static error_t sdl_display_draw_bitmap(Device* device, int32_t x_start, int32_t y_start, int32_t x_end, int32_t y_end, const void* color_data) {
     auto* internal = static_cast<SdlDisplayInternal*>(device_get_driver_data(device));
 
+    if (internal->init_failed) {
+        return ERROR_RESOURCE;
+    }
+
+    if (!internal->initialized) {
+        if (!sdl_display_lazy_init(device, internal)) {
+            internal->init_failed = true;
+            return ERROR_RESOURCE;
+        }
+        internal->initialized = true;
+    }
+
     SDL_Rect rect = { x_start, y_start, x_end - x_start, y_end - y_start };
     // RGB565 = 2 bytes/pixel.
     if (SDL_UpdateTexture(internal->texture, &rect, color_data, (x_end - x_start) * 2) != 0) {
         return ERROR_RESOURCE;
     }
 
-    SDL_RenderClear(internal->renderer);
-    SDL_RenderCopy(internal->renderer, internal->texture, nullptr, nullptr);
-    SDL_RenderPresent(internal->renderer);
+    sdl_display_present_now();
     return ERROR_NONE;
 }
 

Devices/simulator/Source/drivers/sdl_display.h

@@ -1,6 +1,8 @@
 // SPDX-License-Identifier: Apache-2.0
 #pragma once
 
+#include <SDL2/SDL.h>
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -12,6 +14,22 @@ struct SdlDisplayConfig {
     uint16_t vertical_resolution;
 };
 
+/**
+ * @return the display's renderer, or NULL if the display hasn't drawn its first frame yet
+ *     (see sdl_display_lazy_init() in sdl_display.cpp). Used by sdl_input.cpp to map window
+ *     coordinates back to the fixed logical resolution the renderer scales to fit the window.
+ */
+SDL_Renderer* sdl_display_get_renderer(void);
+
+/**
+ * @brief Re-presents the already-drawn frame at the renderer's current scale. Call this when the
+ *     window is resized: the window size change alone doesn't make SDL re-blit the last frame at
+ *     the new scale until something calls SDL_RenderPresent() again, and LVGL won't do that on
+ *     its own since nothing it's tracking actually changed. No-op if the display hasn't drawn its
+ *     first frame yet.
+ */
+void sdl_display_present_now(void);
+
 #ifdef __cplusplus
 }
 #endif

Devices/simulator/Source/drivers/sdl_input.cpp

@@ -1,5 +1,6 @@
 // SPDX-License-Identifier: Apache-2.0
 #include "sdl_input.h"
+#include "sdl_display.h"
 
 #include <tactility/drivers/keyboard.h>
 
@@ -34,6 +35,23 @@ void push_key(uint32_t key) {
 // all of these back to LVGL's own sentinels (CODEPOINT_ESCAPE/BACKSPACE/DELETE already equal their
 // LV_KEY_* counterpart numerically, so no translation is needed for those). Printable characters
 // arrive separately via SDL_TEXTINPUT.
+// The window can be freely resized (see sdl_display.cpp's SDL_WINDOW_RESIZABLE/
+// SDL_RenderSetLogicalSize()), so raw SDL mouse coordinates are in window-pixel space, not the
+// fixed logical resolution LVGL renders at. SDL_RenderWindowToLogical() is the renderer's own
+// inverse of that scaling, accounting for both the scale factor and any letterbox offset.
+void set_pointer_position(int32_t window_x, int32_t window_y) {
+    SDL_Renderer* renderer = sdl_display_get_renderer();
+    if (renderer == nullptr) {
+        pointer_state.x = window_x;
+        pointer_state.y = window_y;
+        return;
+    }
+    float logical_x, logical_y;
+    SDL_RenderWindowToLogical(renderer, window_x, window_y, &logical_x, &logical_y);
+    pointer_state.x = static_cast<int32_t>(logical_x);
+    pointer_state.y = static_cast<int32_t>(logical_y);
+}
+
 uint32_t keycode_to_key(SDL_Keycode sdl_key, bool shift) {
     switch (sdl_key) {
         case SDLK_RIGHT: return CODEPOINT_ARROW_RIGHT;
@@ -64,13 +82,17 @@ void sdl_input_pump() {
     while (SDL_PollEvent(&event)) {
         switch (event.type) {
             case SDL_MOUSEMOTION:
-                pointer_state.x = event.motion.x;
-                pointer_state.y = event.motion.y;
+                set_pointer_position(event.motion.x, event.motion.y);
                 break;
             case SDL_MOUSEBUTTONDOWN:
                 if (event.button.button == SDL_BUTTON_LEFT) {
-                    pointer_state.x = event.button.x;
-                    pointer_state.y = event.button.y;
+                    // event.button.x/y can be stale immediately after a window resize (an
+                    // SDL/X11 event-queue quirk - confirmed by comparing against a live
+                    // SDL_GetWindowSize() at the same instant). SDL_GetMouseState() queries the
+                    // OS for the current pointer position directly, sidestepping that entirely.
+                    int live_x, live_y;
+                    SDL_GetMouseState(&live_x, &live_y);
+                    set_pointer_position(live_x, live_y);
                     pointer_state.pressed = true;
                 }
                 break;
@@ -86,6 +108,14 @@ void sdl_input_pump() {
                 // ASCII only (first byte of event.text.text) - sufficient for a simulator keyboard.
                 push_key(static_cast<uint8_t>(event.text.text[0]));
                 break;
+            case SDL_WINDOWEVENT:
+                // Resizing doesn't change what LVGL last rendered, only how large it should
+                // appear - re-present the existing frame at the new scale immediately, rather
+                // than leaving stale-looking content on screen until the next LVGL-driven flush.
+                if (event.window.event == SDL_WINDOWEVENT_SIZE_CHANGED) {
+                    sdl_display_present_now();
+                }
+                break;
             case SDL_QUIT:
                 exit(0);
             default:

Devices/simulator/Source/module.cpp

@@ -29,7 +29,7 @@ static Driver* const simulator_drivers[] = {
 // These devices have no real bus to attach to (SDL has no notion of one), but every non-root
 // device is still expected to have a parent (see Device::parent) - they're parented to root once
 // it's available below.
-static const SdlDisplayConfig sdl_display_config = { 320, 240 };
+static const SdlDisplayConfig sdl_display_config = { 640, 480 };
 static Device sdl_display_device {};
 static Device sdl_pointer_device {};
 static Device sdl_keyboard_device {};