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/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() {