Project restructuring (fixes macOS builds) (#198)

- Create `Include/` folder for all main projects
- Fix some issues here and there (found while moving things)
- All includes are now in `Tactility/` subfolder and must be included with that prefix. This fixes issues with clashing POSIX headers (e.g. `<semaphore.h>` versus Tactility's `Semaphore.h`)

TactilityCore/Include/Tactility/kernel/Kernel.h

@@ -0,0 +1,88 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include "freertos/FreeRTOS.h"
+#else
+#include "FreeRTOS.h"
+#endif
+
+namespace tt::kernel {
+
+/** Recognized platform types */
+typedef enum {
+    PlatformEsp,
+    PlatformSimulator
+} Platform;
+
+/** Check if kernel is running
+ * @return true if the FreeRTOS kernel is running, false otherwise
+ */
+bool isRunning();
+
+/** Lock kernel, pause process scheduling
+ * @warning don't call from ISR context
+ * @return true on success
+ */
+bool lock();
+
+/** Unlock kernel, resume process scheduling
+ * @warning don't call from ISR context
+ * @return true on success
+ */
+bool unlock();
+
+/** Restore kernel lock state
+ * @warning don't call from ISR context
+ * @param[in] lock  The lock state
+ * @return true on success
+ */
+bool restoreLock(bool lock);
+
+/** Get kernel systick frequency
+ * @return systick counts per second
+ */
+uint32_t getTickFrequency();
+
+TickType_t getTicks();
+
+/** Delay execution
+ * @warning don't call from ISR context
+ * Also keep in mind delay is aliased to scheduler timer intervals.
+ * @param[in] ticks The ticks count to pause
+ */
+void delayTicks(TickType_t ticks);
+
+/** Delay until tick
+ * @warning don't call from ISR context
+ * @param[in] ticks  The tick until which kerel should delay task execution
+ * @return true on success
+ */
+bool delayUntilTick(TickType_t tick);
+
+/** Convert milliseconds to ticks
+ *
+ * @param[in]   milliSeconds    time in milliseconds
+ * @return      time in ticks
+ */
+TickType_t millisToTicks(uint32_t milliSeconds);
+
+/** Delay in milliseconds
+ * This method uses kernel ticks on the inside, which causes delay to be aliased to scheduler timer intervals.
+ * Real wait time will be between X+ milliseconds.
+ * Special value: 0, will cause task yield.
+ * Also if used when kernel is not running will fall back to delayMicros()
+ * @warning don't call from ISR context
+ * @param[in] milliSeconds milliseconds to wait
+ */
+void delayMillis(uint32_t milliSeconds);
+
+/** Delay in microseconds
+ * Implemented using Cortex DWT counter. Blocking and non aliased.
+ * @param[in] microSeconds microseconds to wait
+ */
+void delayMicros(uint32_t microSeconds);
+
+/** @return the platform that Tactility currently is running on. */
+Platform getPlatform();
+
+} // namespace