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Listen for the TTY port using udev

Bob Ham requested to merge bob.ham/haegtesse:udev into master

To stop the main.c becoming even more unwieldy, most of the code is moved into some new high-level objects, HaegPort and HaegAudio. We also introduce a new object, HaegPortMonitor, to encapsulate the udev interaction.

Closes #1 (closed)

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