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/kernel/Kernel.h

@@ -1,7 +1,5 @@
 #pragma once
 
-#include "CoreTypes.h"
-
 #ifdef ESP_PLATFORM
 #include "freertos/FreeRTOS.h"
 #else
@@ -23,22 +21,22 @@ bool isRunning();
 
 /** Lock kernel, pause process scheduling
  * @warning don't call from ISR context
- * @return previous lock state(0 - unlocked, 1 - locked)
+ * @return true on success
  */
-int32_t lock();
+bool lock();
 
 /** Unlock kernel, resume process scheduling
  * @warning don't call from ISR context
- * @return previous lock state(0 - unlocked, 1 - locked)
+ * @return true on success
  */
-int32_t unlock();
+bool unlock();
 
 /** Restore kernel lock state
  * @warning don't call from ISR context
  * @param[in] lock  The lock state
- * @return new lock state or error
+ * @return true on success
  */
-int32_t restoreLock(int32_t lock);
+bool restoreLock(bool lock);
 
 /** Get kernel systick frequency
  * @return systick counts per second
@@ -57,9 +55,9 @@ void delayTicks(TickType_t ticks);
 /** Delay until tick
  * @warning don't call from ISR context
  * @param[in] ticks  The tick until which kerel should delay task execution
- * @return the status
+ * @return true on success
  */
-TtStatus delayUntilTick(TickType_t tick);
+bool delayUntilTick(TickType_t tick);
 
 /** Convert milliseconds to ticks
  *