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`

TactilityHeadless/Source/hal/i2c/I2c.h

@@ -1,7 +1,6 @@
 #pragma once
 
 #include "I2cCompat.h"
-#include "CoreTypes.h"
 #include "RtosCompat.h"
 #include <climits>
 #include <string>
@@ -29,10 +28,10 @@ struct Configuration {
     i2c_config_t config;
 };
 
-enum Status {
-    STARTED,
-    STOPPED,
-    UNKNOWN
+enum class Status {
+    Started,
+    Stopped,
+    Unknown
 };
 
 bool init(const std::vector<i2c::Configuration>& configurations);

TactilityHeadless/Source/hal/i2c/I2cDevice.cpp

@@ -1,4 +1,5 @@
 #include "I2cDevice.h"
+#include <cstdint>
 
 bool I2cDevice::readRegister12(uint8_t reg, float& out) const {
     std::uint8_t data[2] = {0};