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/Semaphore.h

@@ -1,7 +1,8 @@
 #pragma once
 
-#include "CoreTypes.h"
 #include "Thread.h"
+#include <cassert>
+#include <memory>
 
 #ifdef ESP_PLATFORM
 #include "freertos/FreeRTOS.h"
@@ -18,8 +19,18 @@ namespace tt {
  * Can be used from IRQ/ISR mode, but cannot be created/destroyed from such a context.
  */
 class Semaphore {
+
 private:
-    SemaphoreHandle_t handle;
+
+    struct SemaphoreHandleDeleter {
+        void operator()(QueueHandle_t handleToDelete) {
+            assert(!TT_IS_IRQ_MODE());
+            vSemaphoreDelete(handleToDelete);
+        }
+    };
+
+    std::unique_ptr<std::remove_pointer_t<QueueHandle_t>, SemaphoreHandleDeleter> handle;
+
 public:
     /**
      * Cannot be called from IRQ/ISR mode.