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/service/sdcard/Sdcard.cpp

@@ -20,11 +20,11 @@ private:
     hal::SdCard::State lastState = hal::SdCard::State::Unmounted;
 
     bool lock(TickType_t timeout) const {
-        return mutex.acquire(timeout) == TtStatusOk;
+        return mutex.lock(timeout);
     }
 
     void unlock() const {
-        tt_check(mutex.release() == TtStatusOk);
+        mutex.unlock();
     }
 
     void update() {