ENI: Configure the bus from an EtherCAT Network Information file

[leducp]

• Load ENI files (ETG.2100) through an optional parser (eni_parser build option); the configuration model itself needs no XML library.
• Drive the bus through its states from an ENI with ENI::Sequencer. The ENI is refused when it disagrees with the SII or with what its own commands programmed.
• Map a process image programmed by other means with Bus::mapProcessImage, and refuse mappings the frames cannot carry.
• Refuse datagrams larger than a frame instead of overflowing it.
• Add load_eni and a simulated eni_replay example, and docs/ENI.md.

[github-actions]

File	Coverage	Lines	Branches
All files	87%	90%	83%	✅
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/master/include/kickcat/AbstractLink.h	90%	80%	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/master/src/ENI/Sequencer.cc	85%	91%	79%	✅
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	96%	99%	93%	✅
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	89%	86%	92%	✅
lib/src/CoE/OD.cc	95%	95%	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/ENI/Config.cc	94%	94%	94%	✅
lib/src/ENI/Parser.cc	95%	98%	93%	✅
lib/src/ESI/Parser.cc	85%	89%	81%	✅
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/xsd.cc	93%	96%	90%	✅

Minimum allowed coverage is 75%

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