Ts-salobj

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Changes:

* `BaseCsc`: output errorCode(errorCode=0, errorReport="", traceback="") when going to any non-fault state.
Also log a critical error message when going to fault state.
**Warning:** This change will break unit tests that read errorCode events.
* `CscCommander`: update documentation to expect no extra, unwanted generic commands.
This reflects what you get with ts_xml 10 and ts_sal 6.
* Fix a new mypy error by not checking DM's `lsst/__init__.py` files.
* Remove all use of SALPY.
Inter-language SAL communication is now tested in a separate integration test package.
* Update schema links to point to main instead of master.

Requirements:

* ts_ddsconfig
* ts_idl 2
* ts_utils 1
* ts_xml 6.2
* IDL files for Test and Script generated by ts_sal 5
* SALPY_Test generated by ts_sal 5 or 6

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Changes:

* Support optional authlist-based command authorization using environment variable ``LSST_DDS_ENABLE_AUTHLIST``.
* Modernize unit tests to use bare `assert`.
* `BaseScript`: support new checkpoint counting fields in Script SAL topics:
``totalCheckpoints`` in the ``metadata`` event and ``numCheckpoints`` in the ``state`` event.
* Update ``sal_scripts.rst`` to describe the `BaseScript.set_metadata` method.

Requirements:

* ts_ddsconfig
* ts_idl 2
* ts_utils 1
* ts_xml 10.1
* IDL files for Test and Script generated by ts_sal 5
* SALPY_Test generated by ts_sal 5 or 6

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Changes:

* Speed up creation of topics, and thus of controllers, CSCs, scripts and remotes.
This uses new functions `parse_idl_file` and `make_dds_topic_class`.
Used together, these are dramatically faster than ``ddsutil.get_dds_classes_from_idl``, because they only parse the IDL file once.

Requirements:

* ts_ddsconfig
* ts_idl 2
* ts_utils 1
* ts_xml 6.2
* IDL files for Test and Script generated by ts_sal 5
* SALPY_Test generated by ts_sal 5 or 6

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Changes:

* `BaseCsc.start`: if starting in a state other than the default state,
add a brief delay after each state transition command.
This assures that each summaryState event will have a unique value of private_sndStamp,
avoiding a source of lost summaryState data in the EFD.

Requirements:

* ts_ddsconfig
* ts_idl 2
* ts_utils 1
* ts_xml 6.2
* IDL files for Test and Script generated by ts_sal 5
* SALPY_Test generated by ts_sal 5 or 6

------

Changes:

* `SalInfo`: if the ``index`` constructor argument is an `enum.IntEnum` then save the value as is.
Formerly the value was cast to an `int`, which lost information.

Requirements:

* ts_ddsconfig
* ts_idl 2
* ts_utils 1
* ts_xml 6.2
* IDL files for Test and Script generated by ts_sal 5
* SALPY_Test generated by ts_sal 5 or 6

------

Changes:

* Eliminate some deprecation warnings by using ts_utils functions in all library code.
I missed some usage of deprecated wrappers for make_done_future and various time functions in v6.6.0.
* Add missing instances of `with self.assertWarns` in unit tests that call deprecated wrapper functions.
* `astropy_time_from_tai_unix`: added a missing deprecation warning and changed it to call the version in ts_utils.
* Fix a "test_none_valid_simulation_modes_simulation_mode" warning in a unit test.

Requirements:

* ts_ddsconfig
* ts_idl 2
* ts_utils 1
* ts_xml 6.2
* IDL files for Test and Script generated by ts_sal 5
* SALPY_Test generated by ts_sal 5 or 6