rtapi_app: setuid permissions
packaging: linuxcnc-uspace, not linuxcnc-sim
rtapi_app: do commands based on a callback

this will enable sim_rtapi_run_threads to work in a pthreads model too
uspace-rtapi: roll uspace_rtapi.c into rtapi_app.cc
rtapi: clock period should be in unsigned longs everywhere
uspace-rtapi: Introduce class RtapiApp and implementation Pth

.. which has virtual methods that might depend on the userspace
realtime system.
uspace-rtapi: use POSIX scheduler priorities
uspace-rtapi: Drop rtapi_task_set_period API

this is never used
uspace-rtapi: task_new is thread-agnostic
uspace-rtapi: Delete "rtapi_task_stop", it's never used
uspace-rtapi: Implement posix realtime

Some code adapted from the "ubc3" branch (harden_rt)

For SCHED_FIFO, using distinct priorities should give rate monotonic
scheduling.  For SCHED_OTHER (running without root privs), locks give the same
no-slow-interrupts-fast guarantee as pth did (a slightly different guarantee
than RMS, because it also prevents fast interrupting slow).
uspace-rtapi: get time in nanoseconds, not microseconds
build: optionally automatically invoke 'sudo make setuid'

.. touch the file src/.auto-setuid to do this
uspace-rtapi: get rid of use of GNU pth

Since we can now run on posix threads without SCHED_FIFO and provide
the necessary rate-monotonic guarantee, there's no reason to retain the pth
implementation.
uspace-rtapi: lock and page in shared memory segments