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/StreamBuffer.cpp

@@ -2,22 +2,20 @@
 
 #include "Check.h"
 #include "CoreDefines.h"
-#include "CoreTypes.h"
 
 namespace tt {
 
-StreamBuffer::StreamBuffer(size_t size, size_t triggerLevel) {
+inline static StreamBufferHandle_t createStreamBuffer(size_t size, size_t triggerLevel) {
     assert(size != 0);
-    handle = xStreamBufferCreate(size, triggerLevel);
+    return xStreamBufferCreate(size, triggerLevel);
+}
+
+StreamBuffer::StreamBuffer(size_t size, size_t triggerLevel) : handle(createStreamBuffer(size, triggerLevel)) {
     tt_check(handle);
 };
 
-StreamBuffer::~StreamBuffer() {
-    vStreamBufferDelete(handle);
-};
-
 bool StreamBuffer::setTriggerLevel(size_t triggerLevel) const {
-    return xStreamBufferSetTriggerLevel(handle, triggerLevel) == pdTRUE;
+    return xStreamBufferSetTriggerLevel(handle.get(), triggerLevel) == pdTRUE;
 };
 
 size_t StreamBuffer::send(
@@ -27,11 +25,11 @@ size_t StreamBuffer::send(
 ) const {
     if (TT_IS_IRQ_MODE()) {
         BaseType_t yield;
-        size_t result = xStreamBufferSendFromISR(handle, data, length, &yield);
+        size_t result = xStreamBufferSendFromISR(handle.get(), data, length, &yield);
         portYIELD_FROM_ISR(yield);
         return result;
     } else {
-        return xStreamBufferSend(handle, data, length, timeout);
+        return xStreamBufferSend(handle.get(), data, length, timeout);
     }
 };
 
@@ -42,32 +40,32 @@ size_t StreamBuffer::receive(
 ) const {
     if (TT_IS_IRQ_MODE()) {
         BaseType_t yield;
-        size_t result = xStreamBufferReceiveFromISR(handle, data, length, &yield);
+        size_t result = xStreamBufferReceiveFromISR(handle.get(), data, length, &yield);
         portYIELD_FROM_ISR(yield);
         return result;
     } else {
-        return xStreamBufferReceive(handle, data, length, timeout);
+        return xStreamBufferReceive(handle.get(), data, length, timeout);
     }
 }
 
 size_t StreamBuffer::getAvailableReadBytes() const {
-    return xStreamBufferBytesAvailable(handle);
+    return xStreamBufferBytesAvailable(handle.get());
 };
 
 size_t StreamBuffer::getAvailableWriteBytes() const {
-    return xStreamBufferSpacesAvailable(handle);
+    return xStreamBufferSpacesAvailable(handle.get());
 };
 
 bool StreamBuffer::isFull() const {
-    return xStreamBufferIsFull(handle) == pdTRUE;
+    return xStreamBufferIsFull(handle.get()) == pdTRUE;
 };
 
 bool StreamBuffer::isEmpty() const {
-    return xStreamBufferIsEmpty(handle) == pdTRUE;
+    return xStreamBufferIsEmpty(handle.get()) == pdTRUE;
 };
 
 bool StreamBuffer::reset() const {
-    return xStreamBufferReset(handle) == pdPASS;
+    return xStreamBufferReset(handle.get()) == pdPASS;
 }
 
 } // namespace