rtapi_app: revamp

load kernel modules as specified in rtapi.ini
default to IPC socket for commands

use MACHINEKIT_INI
rtapi: revamp Submakefile

build for all flavors now

all module loading / unloading now goes through rtapi_app regardless
of userland/kernel threads flavors
rtapi_msgd: revamp
hal library: move to hal/lib subdirectory
hal library: revamp
halcmd: revamp

ping rtapi_app before going ahead with hal_init()

this closes a race condition where hal_init() would be called
before rtapi_app is done

default to IPC socket to talk to rtapi_app
use MACHINEKIT_INI

more secure, faster, and less fluff for service discovery
detail the error message.
halsh: retrieve MKUUID from MACHINEKIT_INI

since it uses halcmd objects to connect to rtapi
http/webserver: www root directory
webtalk: websockets/JSON <-> zeroMQ/protobuf bridge
haltalk: remote access and monitoring of HAL objects
machinetalk/nanopb: import version 0.27

nanopb_generator.py - adapt to machinekit nesting structure
+    #import proto.nanopb_pb2 as nanopb_pb2
+    #import proto.plugin_pb2 as plugin_pb2
+    import nanopb_pb2
+    import google.protobuf.compiler.plugin_pb2 as plugin_pb2
machinetalk/lib: fold various support functions into libmtalk.so

zeroconf, logging, protobuf utility code, avahi/czmq poll support, json/pb
conversion, ini helper
machinetalk/libmtalk: include files
syslog_async: remove from rtapi subdirectory

this is now subsumed in the libmtalk userland library.
machinetalk/support: demo files for en/decoding
machinetalk/scripts: conversion scripts for NML type tags
machinetalk/config-service: simple support server for remote UI's
machinetalk/config-server: QML demo files for QtQuickVCP
machinetalk: build support, dependency generator for protobuf files
hal/hal_glib.py: add remote HAL component support