Reorganize repository

* Move the project top-level CMakeLists.txt to the root of the project;
  this allows building Cyclone as part of ROS2 without any special
  tricks;

* Clean up the build options:

  ENABLE_SSL:    whether to check for and include OpenSSL support if a
                 library can be found (default = ON); this used to be
                 called DDSC_ENABLE_OPENSSL, the old name is deprecated
                 but still works
  BUILD_DOCS:    whether to build docs (default = OFF)
  BUILD_TESTING: whether to build test (default = OFF)

* Collect all documentation into top-level "docs" directory;

* Move the examples to the top-level directory;

* Remove the unused and somewhat misleading pseudo-default
  cyclonedds.xml;

* Remove unused cmake files

Signed-off-by: Erik Boasson <eb@ilities.com>

performance/throughput-test

@@ -1,159 +0,0 @@
-#!/bin/bash
-
-usage () {
-    cat >&2 <<EOF
-usage: $0 [OPTIONS] user@remote [user@remote...]
-
-OPTIONS
-  -i IF        use network interface IF (default: eth0)
-  -b 100|1000  network bandwidth (100Mbps/1000Gbps) for calculating load
-               % given load in bytes/second (default: 1000)
-  -d DIR       use DIR on remote (default: PWD)
-  -p           provision required binaries in DIR (default: false)
-               first ssh's in to try mkdir -p DIR, then follows up with scp
-  -t DUR       run for DUR seconds per size (default 20)
-  -a ASYNCLIST run for delivery async settings ASYNCLIST (default: "0 1")
-  -m MODELIST  run with subscriber mode settings MODELIST (default: "-1 0 1")
-  -s SIZELIST  run for sizes in SIZELIST (default: "0 16 32 64 128 256")
-  -l LOOPBACK  enable/disable multicast loopback (true/false, default: true)
-  -o DIR       store results in dir (default: throughput-result)
-
-Local host runs ThroughputSubscriber, first remote runs ThroughputPublisher,
-further remotes also run ThroughputSubscriber.  It assumes these are
-available in DIR/bin.  It also assumes that ssh user@remote works without
-requiring a password.
-EOF
-    exit 1
-}
-
-export nwif=eth0
-bandwidth=1000
-remotedir="$PWD"
-provision=false
-asynclist="0 1"
-modelist="-1 0 1"
-sizelist="0 16 32 64 128 256"
-timeout=20
-loopback=true
-resultdir="throughput-result"
-while getopts "i:b:d:pa:m:s:t:o:l:" opt ; do
-    case $opt in
-        i) nwif="$OPTARG" ;;
-        b) bandwidth="$OPTARG" ;;
-        d) remotedir="$OPTARG" ;;
-        p) provision=true ;;
-        a) asynclist="$OPTARG" ;;
-        m) modelist="$OPTARG" ;;
-        s) sizelist="$OPTARG" ;;
-        l) loopback="OPTARG" ;;
-        t) timeout="$OPTARG" ;;
-        o) resultdir="$OPTARG" ;;
-        h) usage ;;
-    esac
-done
-shift $((OPTIND-1))
-if [ $# -lt 1 ] ; then usage ; fi
-ethload=`dirname $0`/ethload
-pubremote=$1
-shift
-
-cfg=cdds-simple.xml
-cat >$cfg <<EOF
-<CycloneDDS>
-  <Domain>
-    <Id>17</Id>
-  </Domain>
-  <DDSI2E>
-    <General>
-      <NetworkInterfaceAddress>$nwif</NetworkInterfaceAddress>
-      <EnableMulticastLoopback>$loopback</EnableMulticastLoopback>
-    </General>
-    <Internal>
-      <Watermarks>
-        <WhcHigh>500kB</WhcHigh>
-      </Watermarks>
-      <SynchronousDeliveryPriorityThreshold>${async:-0}</SynchronousDeliveryPriorityThreshold>
-      <LeaseDuration>3s</LeaseDuration>
-    </Internal>
-  </DDSI2E>
-</CycloneDDS>
-EOF
-
-if [ ! -x bin/ThroughputPublisher -o ! -x bin/ThroughputSubscriber -o ! -x $ethload ] ; then
-    echo "some check for existence of a file failed on the local machine" >&2
-    exit 1
-fi
-
-[ -d $resultdir ] || { echo "output directory $resultdir doesn't exist" >&2 ; exit 1 ; }
-
-if $provision ; then
-    echo "provisioning ..."
-    for r in $pubremote "$@" ; do
-        ssh $r mkdir -p $remotedir $remotedir/bin $remotedir/lib
-        scp lib/libddsc.so.0 $r:$remotedir/lib
-        scp bin/ThroughputPublisher bin/ThroughputSubscriber $r:$remotedir/bin
-    done
-fi
-
-export CYCLONEDDS_URI=file://$PWD/$cfg
-for r in $pubremote "$@" ; do
-    scp $cfg $r:$remotedir || { echo "failed to copy $cfg to $remote:$PWD" >&2 ; exit 1 ; }
-done
-
-for async in $asynclist ; do
-    export async
-    for mode in $modelist ; do
-        echo "======== ASYNC $async MODE $mode ========="
-        
-        cat > run-publisher.tmp <<EOF
-export CYCLONEDDS_URI=file://$remotedir/$cfg
-export async=$async
-cd $remotedir
-rm -f pub-top.log
-for size in $sizelist ; do
-  echo "size \$size"
-  bin/ThroughputPublisher \$size > pub.log & ppid=\$!
-  top -b -d1 -p \$ppid >> pub-top.log & tpid=\$!
-  sleep $timeout
-  kill \$tpid
-  kill -2 \$ppid
-  wait \$ppid
-  sleep 5
-done
-wait
-EOF
-        scp run-publisher.tmp $pubremote:$remotedir || { echo "failed to copy $cfg to $remote:$PWD" >&2 ; exit 2 ; }
-        killremotesubs=""
-        if [ $# -gt 0 ] ; then
-            cat > run-subscriber.tmp <<EOF
-export CYCLONEDDS_URI=file://$remotedir/$cfg
-export async=$async
-cd $remotedir
-nohup bin/ThroughputSubscriber 0 $mode > /dev/null &
-echo \$!
-EOF
-            for r in "$@" ; do
-                scp run-subscriber.tmp $r:$remotedir
-                rsubpid=`ssh $r ". $remotedir/run-subscriber.tmp"`
-                killremotesubs="$killremotesubs ssh $r kill -9 $rsubpid &"
-            done
-        fi
-        
-        outdir=$resultdir/data-async$async-mode$mode
-        mkdir $outdir
-
-        rm -f sub-top.log
-        $ethload $nwif $bandwidth > $outdir/sub-ethload.log & lpid=$!
-        bin/ThroughputSubscriber 0 $mode > $outdir/sub.log & spid=$!
-        top -b -d1 -p $spid >> $outdir/sub-top.log & tpid=$!
-        tail -f $outdir/sub.log & xpid=$!
-        ssh $pubremote ". $remotedir/run-publisher.tmp"
-        kill $tpid
-        kill -2 $spid
-        eval $killremotesubs
-        sleep 1
-        kill $lpid $xpid
-        wait
-        scp $pubremote:$remotedir/{pub-top.log,pub.log} $outdir
-    done
-done