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/Lockable.h

@@ -3,6 +3,8 @@
 #include "Check.h"
 #include "RtosCompat.h"
 #include <memory>
+#include <functional>
+#include <algorithm>
 
 namespace tt {
 
@@ -15,6 +17,8 @@ public:
 
     virtual bool lock(TickType_t timeoutTicks) const = 0;
 
+    virtual bool lock() const { return lock(portMAX_DELAY); }
+
     virtual bool unlock() const = 0;
 
     std::unique_ptr<ScopedLockableUsage> scoped() const;
@@ -43,6 +47,8 @@ public:
         return lockable.lock(timeout);
     }
 
+    bool lock() const override { return lock(portMAX_DELAY); }
+
     bool unlock() const override {
         return lockable.unlock();
     }