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HAL Classes Are No Templates

Simon Spannagel requested to merge hal_factory into master

This MR restructures the inheritance tree such that hardware abstraction classes are no templates anymore. All relevant templating happens in the base CaribouDevice class (dynamic interface allocation and access, selection of HAL board)

This should only be reviewed after !61 (merged) has been merged to reduce complexity. :)

(cc) @afiergol

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