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/Timer.h

@@ -1,7 +1,5 @@
 #pragma once
 
-#include "CoreTypes.h"
-
 #include "RtosCompatTimers.h"
 #include "Thread.h"
 #include <memory>
@@ -9,15 +7,27 @@
 namespace tt {
 
 class Timer {
-private:
-    TimerHandle_t timerHandle;
+
 public:
 
     typedef void (*Callback)(std::shared_ptr<void> context);
     typedef void (*PendingCallback)(void* context, uint32_t arg);
 
+private:
+
+    struct TimerHandleDeleter {
+        void operator()(TimerHandle_t handleToDelete) {
+            xTimerDelete(handleToDelete, portMAX_DELAY);
+        }
+    };
+
     Callback callback;
     std::shared_ptr<void> callbackContext;
+    std::unique_ptr<std::remove_pointer_t<TimerHandle_t>, TimerHandleDeleter> handle;
+
+    static void onCallback(TimerHandle_t hTimer);
+
+public:
 
     enum class Type {
         Once = 0,    ///< One-shot timer.