tests/bitops.0/test.sh:  change include dir to /include from /src/rtapi

Theory:  tests ought not to depend on anything in /src/
msgd: use synchronous signal delivery with signalfd()

this is the way it will be done with the zeroMQ zpoll() reactor, and
it avoids a problem with syslog() use from a signal hamdler.
rtapi/msgd: explicitly shut down rtapi_app if exiting

there is no point in rtapi_app continuing if rtapi_msgd exits for some reason.
This closes the situation where rtapi_msgd exits and rtapi_app hangs
around, giving troubles on next startup.
toolchanger test:  make race condition less likely by increasing sleep

There's a race condition in the linuxcncrsh tests that's been dealt
with before by sleeping a second before comparing test output to
expected output.

This occasionally bites my buildbot, so hack it more by increasing the
sleep to five seconds.

The following example output shows the last several lines of
'gcode-output' truncated; the file is complete upon later inspection:

shutdown
+ wait
+ exit 0
--- expected-gcode-output	2014-01-29 17:54:34.000000000 -0600
+++ gcode-output		2014-01-29 18:44:02.666945642 -0600
@@ -209,9 +209,3 @@
 tlo_z = -0.400000

 sequence number 30.000000
-X = 0.000000
-Y = 0.000000
-Z = 0.400000
-toolno = 99999.000000
-tlo_z = -0.400000
-
*** [...]/tests/toolchanger/toolno-pocket-differ/nonrandom: \
    FAIL: checkresult exited with 1