Kernel improvements (#485)

* **New Features**
  * Added public accessors for querying module/device start and ready state.

* **Refactor**
  * Internal state moved to opaque internal objects; module/device/driver initializers now explicitly initialize internal pointers.
  * Lifecycle handling updated to construct/destruct internal state and use accessors.

* **Tests**
  * Tests updated to use public accessors and explicit construct/destruct lifecycle calls.

* **Chores**
  * Test build/include paths and small metadata updated.

Tests/TactilityCore/Source/BundleTest.cpp

@@ -0,0 +1,49 @@
+#include "doctest.h"
+#include <Tactility/Bundle.h>
+
+using namespace tt;
+
+TEST_CASE("boolean can be stored and retrieved") {
+    Bundle bundle;
+    bundle.putBool("key", true);
+    CHECK(bundle.hasBool("key"));
+    CHECK(bundle.getBool("key"));
+    bool opt_result = false;
+    CHECK(bundle.optBool("key", opt_result));
+    CHECK_EQ(opt_result, true);
+}
+
+TEST_CASE("int32 can be stored and retrieved") {
+    Bundle bundle;
+    bundle.putInt32("key", true);
+    CHECK(bundle.hasInt32("key"));
+    CHECK(bundle.getInt32("key"));
+    int32_t opt_result = false;
+    CHECK(bundle.optInt32("key", opt_result));
+    CHECK_EQ(opt_result, true);
+}
+
+TEST_CASE("string can be stored and retrieved") {
+    Bundle bundle;
+    bundle.putString("key", "test");
+    CHECK(bundle.hasString("key"));
+    CHECK_EQ(bundle.getString("key"), "test");
+    std::string opt_result;
+    CHECK(bundle.optString("key", opt_result));
+    CHECK_EQ(opt_result, "test");
+}
+
+TEST_CASE("bundle copy makes an actual copy") {
+    auto* original_ptr = new Bundle();
+    Bundle& original = *original_ptr;
+    original.putBool("bool", true);
+    original.putInt32("int32", 123);
+    original.putString("string", "text");
+
+    Bundle copy = original;
+    delete original_ptr;
+
+    CHECK_EQ(copy.getBool("bool"), true);
+    CHECK_EQ(copy.getInt32("int32"),  123);
+    CHECK_EQ(copy.getString("string"), "text");
+}

Tests/TactilityCore/Source/FileTest.cpp

@@ -0,0 +1,14 @@
+#include "doctest.h"
+#include <Tactility/file/File.h>
+
+using namespace tt;
+
+TEST_CASE("findOrCreateDirectory can create a directory tree without prefix") {
+    CHECK_EQ(file::findOrCreateDirectory("test1/test1", 0777), true);
+    // TODO: delete dirs
+}
+
+TEST_CASE("findOrCreateDirectory can create a directory tree with prefix") {
+    CHECK_EQ(file::findOrCreateDirectory("/tmp/test2", 0777), true);
+    // TODO: delete dirs
+}

Tests/TactilityCore/Source/Main.cpp

@@ -0,0 +1,59 @@
+#define DOCTEST_CONFIG_IMPLEMENT
+#include "doctest.h"
+#include <cassert>
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+typedef struct {
+    int argc;
+    char** argv;
+    int result;
+} TestTaskData;
+
+void test_task(void* parameter) {
+    auto* data = (TestTaskData*)parameter;
+
+    doctest::Context context;
+
+    context.applyCommandLine(data->argc, data->argv);
+
+    // overrides
+    context.setOption("no-breaks", true); // don't break in the debugger when assertions fail
+
+    data->result = context.run();
+
+    vTaskEndScheduler();
+
+    vTaskDelete(nullptr);
+}
+
+int main(int argc, char** argv) {
+    TestTaskData data = {
+        .argc = argc,
+        .argv = argv,
+        .result = 0
+    };
+
+    BaseType_t task_result = xTaskCreate(
+        test_task,
+        "test_task",
+        8192,
+        &data,
+        1,
+        nullptr
+    );
+    assert(task_result == pdPASS);
+
+    vTaskStartScheduler();
+
+    return data.result;
+}
+
+// NOTE: This is normally provided by the platform kernel module, but that's not loaded for TactilityCore
+extern "C" {
+// Required for FreeRTOS
+void vAssertCalled(unsigned long line, const char* const file) {
+    __assert_fail("assert failed", file, line, "");
+}
+}

Tests/TactilityCore/Source/StringTest.cpp

@@ -0,0 +1,63 @@
+#include "doctest.h"
+#include <Tactility/StringUtils.h>
+
+// region split
+
+TEST_CASE("splitting an empty string results in an empty vector") {
+    auto result = tt::string::split("", ".");
+    CHECK_EQ(result.empty(), true);
+}
+
+TEST_CASE("splitting a string with a single token results in a vector with that token") {
+    auto result = tt::string::split("token", ".");
+    CHECK_EQ(result.size(), 1);
+    CHECK_EQ(result.front(), "token");
+}
+
+TEST_CASE("splitting a string with multiple tokens results in a vector with those tokens") {
+    auto result = tt::string::split("token1;token2;token3;", ";");
+    CHECK_EQ(result.size(), 3);
+    CHECK_EQ(result[0], "token1");
+    CHECK_EQ(result[1], "token2");
+    CHECK_EQ(result[2], "token3");
+}
+
+// endregion split
+
+// region join
+
+TEST_CASE("joining an empty vector results in an empty string") {
+    std::vector<std::string> tokens = {};
+    auto result = tt::string::join(tokens, ".");
+    CHECK_EQ(result, "");
+}
+
+TEST_CASE("joining a single token results in a string with that value") {
+    std::vector<std::string> tokens = {
+        "token"
+    };
+    auto result = tt::string::join(tokens, ".");
+    CHECK_EQ(result, "token");
+}
+
+TEST_CASE("joining multiple tokens results in a string with all the tokens and the delimiter") {
+    std::vector<std::string> tokens = {
+        "token1",
+        "token2",
+        "token3",
+    };
+    auto result = tt::string::join(tokens, ".");
+    CHECK_EQ(result, "token1.token2.token3");
+}
+
+TEST_CASE("joining with empty tokens leads to an extra delimiter") {
+    std::vector<std::string> tokens = {
+     "token1",
+     "",
+     "token2",
+    };
+    auto result = tt::string::join(tokens, ".");
+    CHECK_EQ(result, "token1..token2");
+}
+
+// endregion join

Tests/TactilityCore/Source/TestFile.h

@@ -0,0 +1,42 @@
+#pragma once
+
+#include "doctest.h"
+#include <unistd.h>
+
+#include <Tactility/file/File.h>
+
+/**
+ * A class for creating test files that can automatically clean themselves up.
+ */
+class TestFile {
+    const char* path;
+    bool autoClean;
+
+public:
+
+    TestFile(const char* path, bool autoClean = true) : path(path), autoClean(autoClean) {
+        if (autoClean && exists()) {
+            remove();
+        }
+    }
+
+    ~TestFile() {
+        if (autoClean && exists()) {
+            remove();
+        }
+    }
+
+    const char* getPath() const { return path; }
+
+    void writeData(const char* data) const {
+        CHECK_EQ(tt::file::writeString(path, data), true);
+    }
+
+    bool exists() const {
+        return access(path, F_OK) == 0;
+    }
+
+    void remove() const {
+        ::remove(path);
+    }
+};