RSDK-6169 - gRPC debugging client api

[stuqdog]

Adds the gRPC debugging client api.

Note to reviewers: a lot of this is pretty boilerplate. I certainly won't complain if you look at all of it but I think the main places to focus are rpc_client_base.py and utils.py

Flyby: refactors dict_to_struct to make the obj argument type optional, such that we don't need to have if extra is None: extra = {} in every method.

Example code:

robot = await connect()
motor = Motor.from_robot(robot, "<my-motor-name>")
# only a single metadata need be created, which can then be passed to any number of methods
# from any number of resources, provided the user is happy with the logs sharing the same key
md = motor.Metadata()
md.enable_debug_logging('my-cool-key') # the key is optional; if not provided, a random key will be generated
await motor.go_for(rpm=100, revolutions=5, metadata=md)
await robot.close()

example logs:

[stuqdog]

@dgottlieb fyi

[dgottlieb]

This makes sense to me, thanks for linking the PR!

[purplenicole730]

Kind of skimmed over the components/services since the changes seemed straightforward. Thank you for the flyby change!

[stuqdog]

@njooma not sure if you wanted to look at it particularly, but just fyi since we had that discussion about possible implementations

[njooma]

nice.