Project restructuring (fixes macOS builds) (#198)

- Create `Include/` folder for all main projects
- Fix some issues here and there (found while moving things)
- All includes are now in `Tactility/` subfolder and must be included with that prefix. This fixes issues with clashing POSIX headers (e.g. `<semaphore.h>` versus Tactility's `Semaphore.h`)

TactilityCore/Include/Tactility/Dispatcher.h

@@ -0,0 +1,65 @@
+/**
+* @file Dispatcher.h
+*
+* Dispatcher is a thread-safe code execution queue.
+*/
+#pragma once
+
+#include "MessageQueue.h"
+#include "Mutex.h"
+#include "EventFlag.h"
+
+#include <memory>
+#include <queue>
+
+namespace tt {
+
+/**
+ * A thread-safe way to defer code execution.
+ * Generally, one task would dispatch the execution,
+ * while the other thread consumes and executes the work.
+ */
+class Dispatcher {
+public:
+
+    typedef void (*Function)(std::shared_ptr<void> data);
+
+private:
+    struct DispatcherMessage {
+        Function function;
+        std::shared_ptr<void> context; // Can't use unique_ptr with void, so we use shared_ptr
+
+        DispatcherMessage(Function function, std::shared_ptr<void> context) :
+            function(function),
+            context(std::move(context))
+        {}
+
+        ~DispatcherMessage() = default;
+    };
+
+    Mutex mutex;
+    std::queue<std::shared_ptr<DispatcherMessage>> queue;
+    EventFlag eventFlag;
+
+public:
+
+    explicit Dispatcher() = default;
+    ~Dispatcher();
+
+    /**
+     * Queue a function to be consumed elsewhere.
+     * @param[in] function the function to execute elsewhere
+     * @param[in] context the data to pass onto the function
+     */
+    void dispatch(Function function, std::shared_ptr<void> context);
+
+    /**
+     * Consume 1 or more dispatched function (if any) until the queue is empty.
+     * @warning The timeout is only the wait time before consuming the message! It is not a limit to the total execution time when calling this method.
+     * @param[in] timeout the ticks to wait for a message
+     * @return the amount of messages that were consumed
+     */
+    uint32_t consume(TickType_t timeout = portMAX_DELAY);
+};
+
+} // namespace