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`

TactilityCore/Source/Dispatcher.h

@@ -43,7 +43,7 @@ private:
 
 public:
 
-    explicit Dispatcher();
+    explicit Dispatcher() = default;
     ~Dispatcher();
 
     /**
@@ -58,7 +58,7 @@ public:
      * @param[in] timeout the ticks to wait for a message
      * @return the amount of messages that were consumed
      */
-    uint32_t consume(TickType_t timeout);
+    uint32_t consume(TickType_t timeout = portMAX_DELAY);
 };
 
 } // namespace