Create TactilityFreertos subproject (#440)

TactilityFreeRtos/Include/Tactility/DispatcherThread.h

@@ -0,0 +1,68 @@
+#pragma once
+
+#include "Dispatcher.h"
+#include "Thread.h"
+
+namespace tt {
+
+/** Starts a Thread to process dispatched messages */
+class DispatcherThread final {
+
+    Dispatcher dispatcher;
+    std::unique_ptr<Thread> thread;
+    bool interruptThread = true;
+
+    int32_t threadMain() {
+        do {
+            /**
+             * If this value is too high (e.g. 1 second) then the dispatcher destroys too slowly when the simulator exits.
+             * This causes the problems with other services doing an update (e.g. Statusbar) and calling into destroyed mutex in the global scope.
+             */
+            dispatcher.consume(100 / portTICK_PERIOD_MS);
+        } while (!interruptThread);
+
+        return 0;
+    }
+
+public:
+
+    explicit DispatcherThread(const std::string& threadName, size_t threadStackSize = 4096) {
+        thread = std::make_unique<Thread>(
+            threadName,
+            threadStackSize,
+            [this] {
+                return threadMain();
+            }
+        );
+    }
+
+    ~DispatcherThread() {
+        if (thread->getState() != Thread::State::Stopped) {
+            stop();
+        }
+    }
+
+    /**
+     * Dispatch a message.
+     */
+    bool dispatch(const Dispatcher::Function& function, TickType_t timeout = kernel::MAX_TICKS) {
+        return dispatcher.dispatch(function, timeout);
+    }
+
+    /** Start the thread (blocking). */
+    void start() {
+        interruptThread = false;
+        thread->start();
+    }
+
+    /** Stop the thread (blocking). */
+    void stop() {
+        interruptThread = true;
+        thread->join();
+    }
+
+    /** @return true of the thread is started */
+    bool isStarted() const { return thread != nullptr && !interruptThread; }
+};
+
+}