Loader refactored (#235)

- Moved all Loader functionality into Loader class
- Improvement for Dispatcher construction
- Dispatcher and DispatcherThread: you can now specify the timeout when calling `dispatch()`. Default timeout is max timeout.

TactilityCore/Include/Tactility/Dispatcher.h

@@ -38,7 +38,7 @@ private:
     };
 
     Mutex mutex;
-    std::queue<std::shared_ptr<DispatcherMessage>> queue;
+    std::queue<std::shared_ptr<DispatcherMessage>> queue = {};
     EventFlag eventFlag;
 
 public:
@@ -51,7 +51,7 @@ public:
      * @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);
+    void dispatch(Function function, std::shared_ptr<void> context, TickType_t timeout = portMAX_DELAY);
 
     /**
      * Consume 1 or more dispatched function (if any) until the queue is empty.

TactilityCore/Include/Tactility/DispatcherThread.h

@@ -19,7 +19,7 @@ public:
     /**
      * Dispatch a message.
      */
-    void dispatch(Dispatcher::Function function, std::shared_ptr<void> context);
+    void dispatch(Dispatcher::Function function, std::shared_ptr<void> context, TickType_t timeout = portMAX_DELAY);
 
     /** Start the thread (blocking). */
     void start();

TactilityCore/Include/Tactility/PubSub.h

@@ -35,7 +35,9 @@ public:
     PubSub() = default;
 
     ~PubSub() {
-        tt_check(items.empty());
+        if (!items.empty()) {
+            TT_LOG_W("Loader", "Destroying PubSub with %d active subscriptions", items.size());
+        }
     }
 
     /** Start receiving messages at the specified handle (Threadsafe, Re-entrable)

TactilityCore/Source/Dispatcher.cpp

@@ -15,10 +15,10 @@ Dispatcher::~Dispatcher() {
     mutex.unlock();
 }
 
-void Dispatcher::dispatch(Function function, std::shared_ptr<void> context) {
+void Dispatcher::dispatch(Function function, std::shared_ptr<void> context, TickType_t timeout) {
     auto message = std::make_shared<DispatcherMessage>(function, std::move(context));
     // Mutate
-    if (mutex.lock(1000 / portTICK_PERIOD_MS)) {
+    if (mutex.lock(timeout)) {
         queue.push(std::move(message));
         if (queue.size() == BACKPRESSURE_WARNING_COUNT) {
             TT_LOG_W(TAG, "Backpressure: You're not consuming fast enough (100 queued)");

TactilityCore/Source/DispatcherThread.cpp

@@ -25,12 +25,16 @@ DispatcherThread::~DispatcherThread() {
 
 void DispatcherThread::_threadMain() {
     do {
-        dispatcher.consume(1000 / portTICK_PERIOD_MS);
+        /**
+         * 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);
 }
 
-void DispatcherThread::dispatch(Dispatcher::Function function, std::shared_ptr<void> context) {
-    dispatcher.dispatch(function, std::move(context));
+void DispatcherThread::dispatch(Dispatcher::Function function, std::shared_ptr<void> context, TickType_t timeout) {
+    dispatcher.dispatch(function, std::move(context), timeout);
 }
 
 void DispatcherThread::start() {