Monochromator Controller refactoring

closes #3818 (closed)

replace : !5536 (closed)

• Mono as a BlissController
  • Refactor calculation motors with trackers
  • Add trajectory facility
  • Allow dynamic reload of yml configuration parameters
  • Use Xcalibu to calculate polynom method
  • Implement default tracker to polynom for all method
  • _bragg_offset changed to _xtal_bragg_offset in simulated mono
  • Add trajectory+tracker acquisition master for continuous mono scans
  • Default Undulator tracking object with theorical calculations.
  • xtal motor may be either distance between xtals or pusher of the 2nd xtal