Input validity period should be parameter of base interface

[domire8]

https://github.com/aica-technology/modulo/blame/988660b39ed02ec7c60bbfad468df3520eb9bcb1/source/modulo_controllers/src/BaseControllerInterface.cpp#L23

Somehow, the input_validity is a parameter of the ControllerInterface even though all inputs are handled in the BaseControllerInterface. Hence, we should move these things around