Furi: core refactoring and CMSIS removal part 2 (#1410)

* Furi: rename and move core
* Furi: drop CMSIS_OS header and unused api, partially refactor and cleanup the rest
* Furi: CMSIS_OS drop and refactoring.
* Furi: refactoring, remove cmsis legacy
* Furi: fix incorrect assert on queue deallocation, cleanup timer
* Furi: improve delay api, get rid of floats
* hal: dropped furi_hal_crc
* Furi: move DWT based delay to cortex HAL
* Furi: update core documentation

Co-authored-by: hedger <hedger@nanode.su>

furi/core/pubsub.c

@@ -0,0 +1,95 @@
+#include "pubsub.h"
+#include "memmgr.h"
+#include "check.h"
+#include "mutex.h"
+
+#include <m-list.h>
+
+struct FuriPubSubSubscription {
+    FuriPubSubCallback callback;
+    void* callback_context;
+};
+
+LIST_DEF(FuriPubSubSubscriptionList, FuriPubSubSubscription, M_POD_OPLIST);
+
+struct FuriPubSub {
+    FuriPubSubSubscriptionList_t items;
+    FuriMutex* mutex;
+};
+
+FuriPubSub* furi_pubsub_alloc() {
+    FuriPubSub* pubsub = malloc(sizeof(FuriPubSub));
+
+    pubsub->mutex = furi_mutex_alloc(FuriMutexTypeNormal);
+    furi_assert(pubsub->mutex);
+
+    FuriPubSubSubscriptionList_init(pubsub->items);
+
+    return pubsub;
+}
+
+void furi_pubsub_free(FuriPubSub* pubsub) {
+    furi_assert(pubsub);
+
+    furi_check(FuriPubSubSubscriptionList_size(pubsub->items) == 0);
+
+    FuriPubSubSubscriptionList_clear(pubsub->items);
+
+    furi_mutex_free(pubsub->mutex);
+
+    free(pubsub);
+}
+
+FuriPubSubSubscription*
+    furi_pubsub_subscribe(FuriPubSub* pubsub, FuriPubSubCallback callback, void* callback_context) {
+    furi_check(furi_mutex_acquire(pubsub->mutex, FuriWaitForever) == FuriStatusOk);
+    // put uninitialized item to the list
+    FuriPubSubSubscription* item = FuriPubSubSubscriptionList_push_raw(pubsub->items);
+
+    // initialize item
+    item->callback = callback;
+    item->callback_context = callback_context;
+
+    furi_check(furi_mutex_release(pubsub->mutex) == FuriStatusOk);
+
+    return item;
+}
+
+void furi_pubsub_unsubscribe(FuriPubSub* pubsub, FuriPubSubSubscription* pubsub_subscription) {
+    furi_assert(pubsub);
+    furi_assert(pubsub_subscription);
+
+    furi_check(furi_mutex_acquire(pubsub->mutex, FuriWaitForever) == FuriStatusOk);
+    bool result = false;
+
+    // iterate over items
+    FuriPubSubSubscriptionList_it_t it;
+    for(FuriPubSubSubscriptionList_it(it, pubsub->items); !FuriPubSubSubscriptionList_end_p(it);
+        FuriPubSubSubscriptionList_next(it)) {
+        const FuriPubSubSubscription* item = FuriPubSubSubscriptionList_cref(it);
+
+        // if the iterator is equal to our element
+        if(item == pubsub_subscription) {
+            FuriPubSubSubscriptionList_remove(pubsub->items, it);
+            result = true;
+            break;
+        }
+    }
+
+    furi_check(furi_mutex_release(pubsub->mutex) == FuriStatusOk);
+    furi_check(result);
+}
+
+void furi_pubsub_publish(FuriPubSub* pubsub, void* message) {
+    furi_check(furi_mutex_acquire(pubsub->mutex, FuriWaitForever) == FuriStatusOk);
+
+    // iterate over subscribers
+    FuriPubSubSubscriptionList_it_t it;
+    for(FuriPubSubSubscriptionList_it(it, pubsub->items); !FuriPubSubSubscriptionList_end_p(it);
+        FuriPubSubSubscriptionList_next(it)) {
+        const FuriPubSubSubscription* item = FuriPubSubSubscriptionList_cref(it);
+        item->callback(message, item->callback_context);
+    }
+
+    furi_check(furi_mutex_release(pubsub->mutex) == FuriStatusOk);
+}