Update id logic to use standard movable

[oliwenmandiamond]

Fixes #2158

This fixes the insertion device logic to be compatible with StandardMovable, specifically the UndulatorGap. This has also restructured the ID logic so that we now have these new files:

• apple2_undulator_phases.py
• apple2_undulator_gap.py
• apple2_undulator_base.py
• apple2_undulaltor_motors.py
• apple2_controller.py

Other notable change is MotorStringSetpoint which allows us to still use Motor which have setpoints as str still take floats using a derived signal, allowing the ID logic to not break when using MotorMovableLogic (soon to be MotorFlyableMoveLogic).

This has made the logic much more modular and easier to understand. Please note I have not altered the actual logic or the tests so this hasn't changed the ID behaviour. This was necessary because Motor has changed to use StandardMovable (and in ophyd-async 0.21.1 StandardFlyable) which made the current API conflicting as it was overriding methods it shouldn't of. This will make the migration to ophyd-async 0.21.1 much easier to manage. I've also added more documentation to classes to make it easier for someone else to maintain in the future.

Instructions to reviewer on how to test:

1. Check refactor makes sense
2. Tests pass
3. dodal connect works

Checks for reviewer

• Would the PR title make sense to a scientist on a set of release notes
• If a new device has been added does it follow the standards
• If changing the API for a pre-existing device, ensure that any beamlines using this device have updated their Bluesky plans accordingly
• Have the connection tests for the relevant beamline(s) been run via dodal connect ${BEAMLINE}

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 99.19%. Comparing base (25167f2) to head (48a313c).

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #2161   +/-   ##
=======================================
  Coverage   99.19%   99.19%           
=======================================
  Files         361      364    +3     
  Lines       14339    14378   +39     
=======================================
+ Hits        14223    14262   +39     
  Misses        116      116           

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[Relm-Arrowny]

look good thanks for doing all the work.

[Relm-Arrowny]

Thanks LGTM, love the pr note.