TactilityCore improvements (#187)

FreeRTOS handles were stored plainly and they were deleted in the destructor of classes.
This meant that if a class were to be copied, the destructor would be called twice on the same handles and lead to double-free.

Seha on Discord suggested to fix this by using `std::unique_ptr` with a custom deletion function.

The changes affect:
- Thread
- Semaphore
- Mutex
- StreamBuffer
- Timer
- MessageQueue
- EventFlag

Thread  changes:
- Removal of the hack with the `Data` struct
- Thread's main body is now just a private static function inside the class.
- The C functions were relocated to static class members

PubSub changes:
- Refactored pubsub into class
- Renamed files to `PubSub` instead of `Pubsub`
- `PubSubSubscription` is now a private inner struct and `PubSub` only exposes `SubscriptionHandle`

Lockable, ScopedLockable, Mutex:
- Added `lock()` method that locks indefinitely
- Remove deprecated `acquire()` and `release()` methods
- Removed `TtWaitForever` in favour of `portMAX_DELAY`

Tactility/Source/app/AppInstance.cpp

@@ -6,15 +6,15 @@ namespace tt::app {
 #define TAG "app"
 
 void AppInstance::setState(State newState) {
-    mutex.acquire(TtWaitForever);
+    mutex.lock();
     state = newState;
-    mutex.release();
+    mutex.unlock();
 }
 
 State AppInstance::getState() const {
-    mutex.acquire(TtWaitForever);
+    mutex.lock();
     auto result = state;
-    mutex.release();
+    mutex.unlock();
     return result;
 }
 
@@ -30,22 +30,22 @@ const AppManifest& AppInstance::getManifest() const {
 }
 
 Flags AppInstance::getFlags() const {
-    mutex.acquire(TtWaitForever);
+    mutex.lock();
     auto result = flags;
-    mutex.release();
+    mutex.unlock();
     return result;
 }
 
 void AppInstance::setFlags(Flags newFlags) {
-    mutex.acquire(TtWaitForever);
+    mutex.lock();
     flags = newFlags;
-    mutex.release();
+    mutex.unlock();
 }
 
 std::shared_ptr<const Bundle> AppInstance::getParameters() const {
-    mutex.acquire(TtWaitForever);
+    mutex.lock();
     std::shared_ptr<const Bundle> result = parameters;
-    mutex.release();
+    mutex.unlock();
     return result;
 }