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CI docker improvements

Tom Williams requested to merge task/ci-docker-improvements into master

This branch updates the CI configurations for this repo, and the CI template for plugin repos, to:

  • Cache images (shared between all jobs of same type in this repo)
  • Add a new test job that validates that the software has been successfully installed in the docker images
    • In this repo, the test job just runs herd-control-app --help; in plugin repos, the test job runs herd-control-app /herd-config.yml --test devices.

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