Refactor Hardware Interface & Add Unitest Suite Example

Refactor the hardware interface (HWI) to more oop like:

• Added control/sensor interface
• Added control/sensor base class (if any)
• Added currently supported Hardware
• Centralize define and configs

Added a sample test suite for Command

• Added CNC mock
• Added Command test suite
• Added pipeline runtime procedure and result collection

Planned changes for round 2:

• Refactor OAC
• Refactor to follow RAII
• Cleanup unused features
• Cleanup PDN headers
• Better naming

Everyone should take a look and run some local tests with SITL and real hardware to discover potential issues

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