Add i06-1 magnets

[oliwenmandiamond]

Fixes #2120
This add the basic device layer and control structures for the I06-1 superconducting vector magnet. It implements coordinate transformations, safe coordinated multi-axis moves, and support single axis x, y, z flyscan.

Changes

• Magnet Controller: Adds SuperConductingMagnetController to execute coordinated step by step movements based on the active MovementStrategy mode.
• Coordinate Systems: Adds MagnetCartesianCoordinates ($X, Y, Z$) and MagnetSphericalCoordinates ($\rho, \theta, \phi$) with automated coordinate conversion.
• Fly Scanning: Implements Flyable and Preparable protocols on MagnetAxis to handle single axis flying.
• Hardware Mocking: Adds MockSuperConductingMagnetController to simulate IOC ramp state transitions and setpoint behavior during testing.

Instructions to reviewer on how to test:

1. Check implementations make sense
2. Check tests coverage is sufficient
3. Check doc strings for devices make sense
4. Check dodal connect i06-1

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 99.18%. Comparing base (090b778) to head (bc1bba4).

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2115      +/-   ##
==========================================
+ Coverage   99.16%   99.18%   +0.02%     
==========================================
  Files         353      360       +7     
  Lines       13877    14296     +419     
==========================================
+ Hits        13761    14180     +419     
  Misses        116      116              

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[Relm-Arrowny]

I gone through it roughly, I have a few questions

[Relm-Arrowny]

The core logic for movement strategies and mode boundary enforcement looks great! I still feel we should make MagnetAxis a pure StandardReadable so we do not bypass the controller's safety logic and eliminates the need to inject mag_within_boundary callbacks into MagnetAxis.

I know you might not be fully convinced t about keeping MagnetAxis read-only and I probably did not explain it well. If you're busy or would prefer, I'm happy to take a stab at the branch to refactor MagnetAxis, and the controller to show you what I had in mind!

Removing review block due to unresolved design impasse around coupling and hardcoded safety limits.

[Relm-Arrowny]

Looks great! Thanks for pushing this update—the multi-axis movement strategy delegation and fly-scan protocols look super clean and well-structured.

Before hitting merge, I went ahead and added a quick minor safety tweaks:
Default Timeout on _trigger_ramp(): Added a fallback safety timeout (timeout=500.0) when waiting for RAMP_MADE so Bluesky plans won't hang indefinitely if the IOC stalls.

[Relm-Arrowny]

DiamondLightSource/sm-bluesky#356
#2166
#2166 is more important than the other.