[FR] Communication revision (multi-controllers)

[Paciente8159]

Is your feature request related to a problem? Please describe.

Based on discussion #516 and on the new module extension being developed on endpoint-module branch communications need a full revision.

Describe the solution you'd like

Message processing should be multiplexed
Command responses should be controller/port oriented.
Status responses, alarms and (probably) most info should be broadcasted.

MCU's already have standalone TX implementations and this should be trivial to implement.
RX needs a full redesign.

Describe your target machine hardware
All

Additional context
N/A

[Paciente8159]

Implemented with #529