fix an issue where the scheduler could break if interrupted when sending a notification
catch interrupted system calls and retry in the dispatcher
added a command to check the status of the scheduler
added a function to send a buffer on a zmq socket and retry if interrupted
remove memory leak
catch zmq exception
extra info in a scheduler debug message
added extra config error messages to message log
added extra debug info messages
begin adding support for new interface to io components
display next scheduled item in response to the schedule command
add cycle time to options
split loadconfig and loadoptions steps for clockwork
change ethercat processing to be message based and to not rely on shared memory between the ethercat thread and the clockwork engine