Major CAN rework

[PeterBowman]

This PR tracks several [CAN-TEO] issues, detailed as follows:

• Closes Reroute CAN write calls to controlboard device #209: CAN read/write operations now all belong to CanBusControlboard and reside in their own, separate threads. Raw subdevices access incoming messages via callback (as usual) and register outgoing messages to a sender delegate. CAN devices forced to non-blocking mode.
• Closes Merge CAN bus&wrapper loader apps #20: merged oneCanBusOneWrapper, launchManipulation and launchLocomotion into launchCanBus, now allowing to bind an arbitrary number of CAN master devices to another arbitrary number of YARP wrappers given a conveniently parsed configuration file.
• Closes Develop CAN Dextra device #227: the serial Dextra controlboard device has been refactored and a new CAN-enabled device is available.
• Closes Drop hardcoded/arbitrary delays in SDO reads #159: SDO reads/writes now await their corresponding response/acknowledge with timeout, no more hardcoded arbitrary delays.
• Closes Incorporate pulse/sample parameter #153: refactored hardcoded constants into a new pulsesPerSample Technosoft device configuration parameter.
• Addresses Create CANopen abstraction layer #223: added abstraction layers around CANopen protocols (currently SDO, PDO, EMCY, NMT and CiA402 state machine).
• Closes Pass config options to CanBusControlboard's subdevices #207: YARP's config monitor handle is now correctly passed to raw subdevices (due to YARP's buggy behavior).
• Closes Clean CAN master's DeviceDriver methods #74: CanBusControlboard::open needed some love; now, most stuff was moved to the respective subdevice initialization methods or other, more convenient places.
• Closes Observe and perform state transitions with YARP control modes #215: implemented CiA 402 drive state machine with mappings to YARP control modes (includes a cleaner homing procedure).
• Closes Clean CAN raw subdevice interfaces #211: CanBusControlboard's subdevices have been deprived from unused YARP interface implementations; CuiAbsolute is now wrapped by the TechnosoftIpos device and regarded as an external encoder.
• Closes Map controlled joints to motor ids in raw subdevices #171: CanBusControlboard has learned to properly map exposed motor joints to controlled raw subdevice axes.
• Addresses Leverage CANopen & general improvements #232: leverage CANopen-related stuff (doc-type issue).
• Closes Avoid bloat of CuiAbsolute CAN messages #217: switched to polling mode on CuiAbsolute so that encoder reads are only requested on device initialization and used for synchronizing the relative encoders with them, using these values as an offset to the subsequent relative encoder reads during the whole execution of the program.
• Closes Implement additional yarp::dev motor interfaces #157: implemented yarp::dev::IMotor, yarp::dev::IMotorEncoders and yarp::dev::IAxisInfo in TechnosoftIpos.
• Closes Parallelize CAN writes #230: parallelize CAN transfers.
• Closes New config file format for CAN devices #237: parse INI file according to the new layout.
• Closes Bind multiple CAN channels to raw subdevices #226: allow one CanBusControlboard instance to manage two or more CAN buses.
• Closes Promote TextilesHand to a control board device #234: remove CAN-related stuff in TextilesHand, promote to a controlboard device.
• Closes Review and parse fake CAN devices at the controlboard level #241: review fake CAN devices, parse/hardcode in controlboard master device.
• Closes Implement Technosoft::stopRaw #120: manage stop command with controlword's halt bit instead of a transition to "Quick stop active" state.
• Addresses Cannot change control mode some/many times #170: fix consecutive control mode change.

TODOs:

• Parse .ini groups of parameters common to all CAN and wrapper devices.
• Re-enable ICanBusSharer client apps (examples, tests...).
• Pass CAN data size along with data pointer in SDO semaphore await and notify actions?
• 6060h vs 6061h on SDO await.
• Add C++11-related CMake flags.
• Check whether data part in SDO messages is guaranteed to fit exactly 8 bytes.
• Hide private implementation of CANopen stack library.
• Harmonize CANopen class names.
• Write doxy documentation.
• Prepare unit tests.
• Ensure thread safety where needed.
• Use std::atomic in new StateVariables class.
• Move TPDO callbacks somewhere else (TechnosoftIpos.cpp? use std::bind?).
• Move error register-related code into its own callback(s)?
• Refactor control mode-related stuff into CanBusSharerLib?
• Parse remaining statusword bits, e.g. motor on/off?
• Call DriveStatusMachine methods instead of CanOpen::rpdo1?
• Add log levels to StateVariables::reportBitToggle (YARP logger?)
• Fix compiler warnings reported in Travis.
• Embrace C++11's move semantics and perfect forwarding.
• Pass lambda parameters by value?
• Pimpl & rule-of-three.
• Review homing procedure (checkMotionDone failures).
• Easily disable absolute encoders?
• Resurrect PT/PVT modes.
• Try yarpmotorgui.

[PeterBowman]

This PR has long exceeded the limit of 250 browseable commits, and helpful comments are buried deep among commit titles (#229 (comment)), so I'm going to close it, at last. Also, my initial assigment was due by the end of 2019 (kinda), and I need other people to test this code extensively. Both facts convinced me to merge apocanlypse now and start a new branch with moar follow-ups at some point afterwards (and another catchy name, too). Bonus TEO feature if you can find the easter egg.

This PR was developed along with new .ini files on robot-specific repositories: roboticslab-uc3m/teo-configuration-files@b17cea8, roboticslab-uc3m/asibot-configuration-files@e02bfc6.

Disclaimers:

1. Left arm CAN bus is sometimes down, I suspect a wiring issue. (cc @rsantos88)
2. Onboard TEO PCs now run the new code.
3. Mind Cannot change control mode some/many times #170.

Happy 2020.

PS "apocanlypse now" was totally unintended.

PS2 just noticed (Feb '20) the alternative spelling "Majorcan rework" (as in the Majorca island). Sorry, it's stronger than me.