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)