Added WiFi kernel drivers and refactored Wifi service (#557)

+ other improvements

Tactility/Include/Tactility/Tactility.h

@@ -1,18 +1,45 @@
 #pragma once
 
+#include "tactility/concurrent/dispatcher.h"
 #include "tactility/device.h"
 #include "tactility/module.h"
-#include <Tactility/Dispatcher.h>
 #include <Tactility/app/AppManifest.h>
 #include <Tactility/hal/Configuration.h>
 #include <Tactility/service/ServiceManifest.h>
 
+#include <functional>
+
 extern "C" {
 struct DtsDevice;
 }
 
 namespace tt {
 
+/**
+ * A thin C++ wrapper around the TactilityKernel dispatcher, allowing
+ * std::function (and therefore capturing lambdas) to be dispatched.
+ */
+class MainDispatcher final {
+
+public:
+
+    using Function = std::function<void()>;
+
+    explicit MainDispatcher(DispatcherHandle_t handle) : handle(handle) {}
+
+    /**
+     * Queue a function to be consumed on the main task.
+     * @param[in] function the function to execute elsewhere
+     * @param[in] timeout lock acquisition timeout
+     * @return true if dispatching was successful (timeout not reached)
+     */
+    bool dispatch(Function function, TickType_t timeout = portMAX_DELAY) const;
+
+private:
+
+    DispatcherHandle_t handle;
+};
+
 /** @brief The configuration for the operating system
  * It contains the hardware configuration, apps and services
  */
@@ -39,7 +66,7 @@ const Configuration* getConfiguration();
  * @warning This dispatcher is used for WiFi and might block for some time during WiFi connection.
  * @return the dispatcher
  */
-Dispatcher& getMainDispatcher();
+MainDispatcher getMainDispatcher();
 
 namespace hal {