Acomms

• New ModemDriverBase report(...) method to provide information about link availability, link quality (if known), and any other data the driver wants to provide.

Middleware

• Call new ModemDriverBase::report(...) regularly from intervehicle driver threads and publish to goby::middleware::intervehicle::modem_report.
• Improve names of glog groups for intervehicle acomms components.
• Add new goby_intervehicle_portal application that acts just like the intervehicle part of gobyd (so that the intervehicle drivers can be run in a separate app from the interprocess manager, etc. that gobyd provides). Users can use gobyd just as before, if desired.

Bugs

• Fix lack of subscriptions when removing and creating a second InterProcessTransporter on the same thread (used by ModemDrivers).

Build

• Fix build with MOOS enabled and ZeroMQ disabled