Cleanup and improvements (#194)

- Lots of changes for migrating C code to C++
- Improved `Lockable` in several ways like adding `withLock()` (+ tests)
- Improved `Semaphore` a bit for improved readability, and also added some tests
- Upgrade Linux machine in GitHub Actions so that we can compile with a newer GCC
- Simplification of WiFi connection
- Updated funding options
- (and more)

TactilityCore/Source/Lockable.h

@@ -12,18 +12,41 @@ class ScopedLockableUsage;
 
 /** Represents a lock/mutex */
 class Lockable {
+
 public:
+
     virtual ~Lockable() = default;
 
-    virtual bool lock(TickType_t timeoutTicks) const = 0;
+    virtual bool lock(TickType_t timeout) const = 0;
 
-    virtual bool lock() const { return lock(portMAX_DELAY); }
+    bool lock() const { return lock(portMAX_DELAY); }
 
     virtual bool unlock() const = 0;
 
+    void withLock(TickType_t timeout, const std::function<void()>& onLockAcquired) const {
+        if (lock(timeout)) {
+            onLockAcquired();
+            unlock();
+        }
+    }
+
+    void withLock(TickType_t timeout, const std::function<void()>& onLockAcquired, const std::function<void()>& onLockFailure) const {
+        if (lock(timeout)) {
+            onLockAcquired();
+            unlock();
+        } else {
+            onLockFailure();
+        }
+    }
+
+    void withLock(const std::function<void()>& onLockAcquired) const { withLock(portMAX_DELAY, onLockAcquired); }
+
+    void withLock(const std::function<void()>& onLockAcquired, const std::function<void()>& onLockFailed) const { withLock(portMAX_DELAY, onLockAcquired, onLockFailed); }
+
     std::unique_ptr<ScopedLockableUsage> scoped() const;
 };
 
+
 /**
  * Represents a lockable instance that is scoped to a specific lifecycle.
  * Once the ScopedLockableUsage is destroyed, unlock() is called automatically.
@@ -37,6 +60,8 @@ class ScopedLockableUsage final : public Lockable {
 
 public:
 
+    using Lockable::lock;
+
     explicit ScopedLockableUsage(const Lockable& lockable) : lockable(lockable) {}
 
     ~ScopedLockableUsage() final {
@@ -47,8 +72,6 @@ public:
         return lockable.lock(timeout);
     }
 
-    bool lock() const override { return lock(portMAX_DELAY); }
-
     bool unlock() const override {
         return lockable.unlock();
     }