ALInfrared: Replace pthread by PeriodicTask

Change-Id: Ic01d5ec47f4c62a498fd095a947abced599719d6
cmake: add option to disable lirc support

Change-Id: I06adbeaa0ddd4fd7b133dbfffbf442452c855d2c
Reviewed-on: http://gerrit.aldebaran.lan/32860
Reviewed-by: smartin <smartin@aldebaran-robotics.com>
Tested-by: smartin <smartin@aldebaran-robotics.com>
Merge commit 'refs/integration/team/platform/dev-32'