Controller disconnect

[GDYendell]

Summary

• Transport.initialise -> Transport.connect
• Transport.create_gui and Transport.create_docs removed
  • Individual transports now call these methods in Transport.connect if the options are not None so that the entrypoint doesn't have to
• Initialisation logic in FastCS.__init__ moved to FastCS.serve
  • This makes things simpler and avoids having to use run_until_complete
  • It makes it easier to launch a fastcs application in the background in tests before interrogating it - asyncio.create_task(fastcs.serve())
• Add interactive flag to FastCS.run and FastCS.serve to disable the IPython prompt - this can be flaky in tests
• Add Controller.disconnect to allow drivers to tidy up resources. This is called at the end of FastCS.serve after scan tasks are stopped.

Fixes #197

[codecov]

Codecov Report

❌ Patch coverage is 98.24561% with 1 line in your changes missing coverage. Please review.
✅ Project coverage is 89.47%. Comparing base (15b1a66) to head (1976893).
⚠️ Report is 3 commits behind head on main.

Files with missing lines	Patch %	Lines
src/fastcs/control_system.py	96.15%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #243      +/-   ##
==========================================
- Coverage   90.46%   89.47%   -0.99%     
==========================================
  Files          46       46              
  Lines        2245     2243       -2     
==========================================
- Hits         2031     2007      -24     
- Misses        214      236      +22     

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