ESI, ENI: Extract shared configuration support

[leducp]

Extract XML readers, ESM transitions, CoE InitCmds, and data type lookup for use by both ESI and ENI. The ESI parser now uses the shared readers and reports errors with element paths.

Move register access from DebugHelpers to AbstractLink for ENI startup. Read standard ESI arrays as typed values and carry PDO entry data types.

[github-actions]

File	Coverage	Lines	Branches
All files	87%	90%	84%	✅
lib/include/kickcat/Error.h	91%	100%	83%	✅
lib/include/kickcat/LockedRing.h	87%	94%	81%	✅
lib/include/kickcat/LoopbackSocket.h	81%	82%	80%	✅
lib/include/kickcat/SimulatorControl.h	84%	97%	70%	✅
lib/include/kickcat/utils/xml.h	98%	100%	97%	✅
lib/master/include/kickcat/AbstractLink.h	95%	90%	100%	✅
lib/master/src/Bus.cc	92%	94%	90%	✅
lib/master/src/CoE.cc	86%	90%	81%	✅
lib/master/src/FoE.cc	98%	100%	96%	✅
lib/master/src/Link.cc	98%	100%	97%	✅
lib/master/src/MailboxSequencer.cc	97%	100%	94%	✅
lib/master/src/MasterOD.cc	99%	99%	100%	✅
lib/master/src/Prints.cc	88%	88%	88%	✅
lib/master/src/Slave.cc	72%	87%	58%	❌
lib/master/src/dc.cc	76%	82%	70%	✅
lib/master/src/CoE/CiA/DS402/Drive.cc	78%	87%	70%	✅
lib/simulation/include/kickcat/simulation/devices/Ds402Motor.h	75%	91%	58%	✅
lib/simulation/src/DirectoryStorage.cc	93%	94%	92%	✅
lib/simulation/src/SimulatedSlave.cc	57%	67%	47%	❌
lib/simulation/src/SimulatorControlServer.cc	91%	97%	84%	✅
lib/simulation/src/Topology.cc	73%	70%	76%	❌
lib/slave/src/AbstractESC.cc	94%	100%	88%	✅
lib/slave/src/AbstractEmulatedEEPROM.cc	0%	0%	0%	❌
lib/slave/src/ESMStates.cc	95%	98%	92%	✅
lib/slave/src/ESM.cc	94%	100%	89%	✅
lib/slave/src/EmulatedNetwork.cc	98%	99%	97%	✅
lib/slave/src/PDO.cc	93%	97%	89%	✅
lib/slave/src/ESC/EmulatedESC.cc	87%	92%	82%	✅
lib/slave/src/ESC/Lan9252.cc	0%	0%	0%	❌
lib/src/Frame.cc	96%	96%	97%	✅
lib/src/Mailbox.cc	93%	96%	89%	✅
lib/src/SIIParser.cc	93%	95%	90%	✅
lib/src/protocol.cc	87%	84%	90%	✅
lib/src/CoE/OD.cc	95%	96%	94%	✅
lib/src/CoE/protocol.cc	92%	92%	92%	✅
lib/src/CoE/CiA/DS402/StateMachine.cc	93%	94%	92%	✅
lib/src/CoE/mailbox/request.cc	84%	86%	83%	✅
lib/src/CoE/mailbox/response.cc	87%	92%	82%	✅
lib/src/ESI/Parser.cc	86%	89%	83%	✅
lib/src/ESI/SIIBuilder.cc	86%	94%	77%	✅
lib/src/EoE/protocol.cc	0%	0%	0%	❌
lib/src/FoE/protocol.cc	22%	28%	17%	❌
lib/src/FoE/mailbox/request.cc	95%	97%	93%	✅
lib/src/FoE/mailbox/response.cc	89%	93%	86%	✅
lib/src/utils/xml.cc	96%	98%	95%	✅
lib/src/utils/xsd.cc	96%	98%	95%	✅

Minimum allowed coverage is 75%

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