Debug:Qutex: Add deadlock detection based on elapsed time

We now detect that a deadlock is likely when
CONFIG_DEBUG_QUTEX_DEADLOCK_TIMEOUT_MS has elapsed. This is the
preliminary work required to do a backtrace through the call
stack and figure out if a deadlock has really occured.

To do this, we'd have to go through the async call chain and
search for a previous caller which acquired the same qutex as
the one that first failed during this Lockvoker LockSet acquisition
attempt.

CMakeLists.txt

@@ -26,6 +26,14 @@ math(EXPR MIND_VOSCILLATOR_FREQ_MS "1000 / ${MIND_VOSCILLATOR_PERIOD_MS}")
 # World thread configuration
 option(WORLD_USE_BODY_THREAD
 	"Use body thread for world component instead of separate world thread" OFF)
+
+# Qutex deadlock detection configuration
+set(DEBUG_CONFIG_QUTEX_DEADLOCK_TIMEOUT_MS 500 CACHE STRING
+	"Timeout in milliseconds for deadlock detection in qutex system")
+if(NOT DEBUG_CONFIG_QUTEX_DEADLOCK_TIMEOUT_MS GREATER 0)
+    message(FATAL_ERROR "DEBUG_CONFIG_QUTEX_DEADLOCK_TIMEOUT_MS must be a positive integer > 0")
+endif()
+
 # Test configuration
 option(ENABLE_TESTS "Enable building tests" OFF)