300 Refactor CLI structure to support nested subparsers and dynamic server loading

[Relm-Arrowny]

Fixes #300

• Added InstrumentClient: To allow quick interaction with instrument server.
• Modified CLI: To allow user to start server and interact with it.
• Modified AbstractInstrumentServer: Added command_list to _command_registry

Instructions to reviewer on how to test:

1. Do thing x
2. Confirm thing y happens

Checks for reviewer

• Would the PR title make sense to a user on a set of release notes

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 100.00%. Comparing base (15128dc) to head (c9e3979).

Additional details and impacted files

@@            Coverage Diff            @@
##              main      #333   +/-   ##
=========================================
  Coverage   100.00%   100.00%           
=========================================
  Files           31        34    +3     
  Lines          837       910   +73     
=========================================
+ Hits           837       910   +73     

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