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/Semaphore.cpp

@@ -4,7 +4,7 @@
 
 namespace tt {
 
-static inline struct QueueDefinition* createHandle(uint32_t maxCount, uint32_t initialCount) {
+static inline QueueHandle_t createHandle(uint32_t maxCount, uint32_t initialCount) {
     assert((maxCount > 0U) && (initialCount <= maxCount));
 
     if (maxCount == 1U) {
@@ -21,7 +21,7 @@ static inline struct QueueDefinition* createHandle(uint32_t maxCount, uint32_t i
     }
 }
 
-Semaphore::Semaphore(uint32_t maxCount, uint32_t initialCount) : handle(createHandle(maxCount, initialCount)){
+Semaphore::Semaphore(uint32_t maxAvailable, uint32_t initialAvailable) : handle(createHandle(maxAvailable, initialAvailable)) {
     assert(!TT_IS_IRQ_MODE());
     tt_check(handle != nullptr);
 }
@@ -30,7 +30,7 @@ Semaphore::~Semaphore() {
     assert(!TT_IS_IRQ_MODE());
 }
 
-bool Semaphore::acquire(uint32_t timeout) const {
+bool Semaphore::acquire(TickType_t timeout) const {
     if (TT_IS_IRQ_MODE()) {
         if (timeout != 0U) {
             return false;
@@ -45,7 +45,7 @@ bool Semaphore::acquire(uint32_t timeout) const {
             }
         }
     } else {
-        return xSemaphoreTake(handle.get(), (TickType_t)timeout) == pdPASS;
+        return xSemaphoreTake(handle.get(), timeout) == pdPASS;
     }
 }
 
@@ -63,13 +63,13 @@ bool Semaphore::release() const {
     }
 }
 
-uint32_t Semaphore::getCount() const {
+uint32_t Semaphore::getAvailable() const {
     if (TT_IS_IRQ_MODE()) {
         // TODO: uxSemaphoreGetCountFromISR is not supported on esp-idf 5.1.2 - perhaps later on?
 #ifdef uxSemaphoreGetCountFromISR
         return uxSemaphoreGetCountFromISR(handle.get());
 #else
-        return uxQueueMessagesWaitingFromISR((QueueHandle_t)hSemaphore);
+        return uxQueueMessagesWaitingFromISR(handle.get());
 #endif
     } else {
         return uxSemaphoreGetCount(handle.get());