280 Implement AbstractInstrumentServer with TCP/IPv6 support

[Relm-Arrowny]

Fixes #280 as part of #274

• Implemented AbstractInstrumentServer to handle TCP data for controlling hardware.
• Defined three abstract methods to manage hardware communication.
• Implemented command_registry and basic server commands.

Instructions to reviewer on how to test:

1. Check test cover all use case.
2. Check interface make sense.
3. Run test and ensure they pass.

Checks for reviewer

• Would the PR title make sense to a user on a set of release notes

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 100.00%. Comparing base (d61285b) to head (3ea6058).
⚠️ Report is 2 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##              main      #282    +/-   ##
==========================================
  Coverage   100.00%   100.00%            
==========================================
  Files           28        30     +2     
  Lines          638       752   +114     
==========================================
+ Hits           638       752   +114     

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[Relm-Arrowny]

@fajinyuan @Villtord @oliwenmandiamond @DG-At-Diamond
Not sure the @DiamondLightSource/smg review tag is working so everyone get a poke here :p

[oliwenmandiamond]

What is the use case for this?

[Relm-Arrowny]

What is the use case for this?

#274 @fajinyuan wanted it to be production ready, rather than just script flying around in the user_script.