[Alexj9837]

Closes #1724

Registering an ophyd-async device now also registers its children, including signals, under their own names at any depth (stage also gives stage-x, stage-x-velocity etc). Dotted access still works. Ophyd v1 devices are left alone.

Name clashes:

• A child named after its parent, like a motor's readback, is registered as <parent>-<attribute> (motor-user_readback). /devices reports each device under its registered name so the two don't both show up as motor
• If an unrelated device already has the name, e.g. something registered as stage-x before stage, then stage.x and its children are skipped with a warning, rather than adding a stage-x-position that looks like it belongs to the wrong device

Things to note:

• /devices and the plan schemas get a lot bigger (adsim goes from 2 to 119 devices), and low level signals like setpoints now show up as plan argument options, hence the system test JSON diff. This needs a follow up ticket.
• DeviceVector items can now be used by name (bank-axes-1). The dotted form (bank.axes.1) still doesn't work, as before
• Tests that register Mock(spec=Device) will now fail, use a real Device

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 96.48%. Comparing base (4353ae2) to head (b2ff531).

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1739      +/-   ##
==========================================
+ Coverage   96.46%   96.48%   +0.01%     
==========================================
  Files          49       49              
  Lines        3791     3811      +20     
==========================================
+ Hits         3657     3677      +20     
  Misses        134      134              

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