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/ManifestRegistry.cpp

@@ -15,7 +15,7 @@ static Mutex hash_mutex(Mutex::Type::Normal);
 void addApp(const AppManifest& manifest) {
     TT_LOG_I(TAG, "Registering manifest %s", manifest.id.c_str());
 
-    hash_mutex.acquire(TtWaitForever);
+    hash_mutex.lock();
 
     if (!app_manifest_map.contains(manifest.id)) {
         app_manifest_map[manifest.id] = std::make_shared<AppManifest>(manifest);
@@ -23,13 +23,13 @@ void addApp(const AppManifest& manifest) {
         TT_LOG_E(TAG, "App id in use: %s", manifest.id.c_str());
     }
 
-    hash_mutex.release();
+    hash_mutex.unlock();
 }
 
 _Nullable std::shared_ptr<AppManifest> findAppById(const std::string& id) {
-    hash_mutex.acquire(TtWaitForever);
+    hash_mutex.lock();
     auto result = app_manifest_map.find(id);
-    hash_mutex.release();
+    hash_mutex.unlock();
     if (result != app_manifest_map.end()) {
         return result->second;
     } else {
@@ -39,11 +39,11 @@ _Nullable std::shared_ptr<AppManifest> findAppById(const std::string& id) {
 
 std::vector<std::shared_ptr<AppManifest>> getApps() {
     std::vector<std::shared_ptr<AppManifest>> manifests;
-    hash_mutex.acquire(TtWaitForever);
+    hash_mutex.lock();
     for (const auto& item: app_manifest_map) {
         manifests.push_back(item.second);
     }
-    hash_mutex.release();
+    hash_mutex.unlock();
     return manifests;
 }