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/kernel/critical/Critical.cpp

@@ -11,8 +11,8 @@ static portMUX_TYPE critical_mutex;
 
 namespace tt::kernel::critical {
 
-TtCriticalInfo enter() {
-    TtCriticalInfo info = {
+CriticalInfo enter() {
+    CriticalInfo info = {
         .isrm = 0,
         .fromIsr = TT_IS_ISR(),
         .kernelRunning = (xTaskGetSchedulerState() == taskSCHEDULER_RUNNING)
@@ -29,7 +29,7 @@ TtCriticalInfo enter() {
     return info;
 }
 
-void exit(TtCriticalInfo info) {
+void exit(CriticalInfo info) {
     if (info.fromIsr) {
         taskEXIT_CRITICAL_FROM_ISR(info.isrm);
     } else if (info.kernelRunning) {

TactilityCore/Source/kernel/critical/Critical.h

@@ -4,21 +4,21 @@
 
 namespace tt::kernel::critical {
 
-typedef struct {
+struct CriticalInfo {
     uint32_t isrm;
     bool fromIsr;
     bool kernelRunning;
-} TtCriticalInfo;
+};
 
 /** Enter a critical section
  * @return info on the status
  */
-TtCriticalInfo enter();
+CriticalInfo enter();
 
 /**
  * Exit a critical section
  * @param[in] info the info from when the critical section was started
  */
-void exit(TtCriticalInfo info);
+void exit(CriticalInfo info);
 
 } // namespace