300 Refactor CLI structure to support nested subparsers and dynamic server loading

[Relm-Arrowny]

Fixes #300 and #337

• Added InstrumentClient: To allow quick interaction with instrument server.
• Modified CLI: To allow user to start server and interact with it.
• Modified AbstractInstrumentServer: Added command_list to _command_registry and added register_command decorator for help register new command.

Instructions to reviewer on how to test:

1. Do thing x
2. Confirm thing y happens

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 (c78cbb6) to head (61b32f6).

Additional details and impacted files

@@            Coverage Diff             @@
##              main      #333    +/-   ##
==========================================
  Coverage   100.00%   100.00%            
==========================================
  Files           31        34     +3     
  Lines          837       944   +107     
==========================================
+ Hits           837       944   +107     

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