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/PubSub.cpp

@@ -0,0 +1,47 @@
+#include "PubSub.h"
+#include "Check.h"
+
+namespace tt {
+
+PubSub::SubscriptionHandle PubSub::subscribe(PubSubCallback callback, void* callbackParameter) {
+    mutex.lock();
+    items.push_back({
+        .id = (++lastId),
+        .callback = callback,
+        .callbackParameter = callbackParameter});
+
+    mutex.unlock();
+
+    return (Subscription*)lastId;
+}
+
+void PubSub::unsubscribe(SubscriptionHandle subscription) {
+    assert(subscription);
+
+    mutex.lock();
+    bool result = false;
+    auto id = (uint64_t)subscription;
+    for (auto it = items.begin(); it != items.end(); it++) {
+        if (it->id == id) {
+            items.erase(it);
+            result = true;
+            break;
+        }
+    }
+
+    mutex.unlock();
+    tt_check(result);
+}
+
+void PubSub::publish(void* message) {
+    mutex.lock();
+
+    // Iterate over subscribers
+    for (auto& it : items) {
+        it.callback(message, it.callbackParameter);
+    }
+
+    mutex.unlock();
+}
+
+} // namespace