Associate a sample changing robot device with i24

[ndevenish]

It's PVs are the standard BART ones, and it is the only thing that knows which sample is mounted.

Instructions to reviewer on how to test:

With access to I24 PV:

import bluesky.plan_stubs as bps
from bluesky.run_engine import RunEngine

from dodal.beamlines.i24 import robot

RE = RunEngine()
device = robot.build(connect_immediately=True)


def dump_robot():
  reading = yield from bps.read(device)
  for name, value in reading.items():
      print(f"{name:<32} {value['value']!r}")

  for signal in (device.sample_id, device.program_name, device.program_running):
      print(f"{signal.name:<32} {(yield from bps.rd(signal))!r}")


RE(dump_robot())

Checks for reviewer

• Would the PR title make sense to a scientist on a set of release notes
• If a new device has been added does it follow the standards
• If changing the API for a pre-existing device, ensure that any beamlines using this device have updated their Bluesky plans accordingly
• Have the connection tests for the relevant beamline(s) been run via dodal connect ${BEAMLINE}. Yes, but fails for outside reasons (Trying to read :PVI on jungfrau CAM).

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 99.19%. Comparing base (3922223) to head (15c6633).

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #2185   +/-   ##
=======================================
  Coverage   99.19%   99.19%           
=======================================
  Files         367      367           
  Lines       14596    14600    +4     
=======================================
+ Hits        14479    14483    +4     
  Misses        117      117           

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[oliwenmandiamond]

LGTM, robot connects using dodal connect i24