Fix inter-GPU connection setup

[chhwang]

• Now GpuMem does not use IpcMem internally
• Fix GpuCommSw::configure()
• Add a unit test test_sched_many_comm_ops
• Minor IPC chanages

[codecov]

Codecov Report

Merging #115 (8e44193) into main (335da67) will decrease coverage by 0.24%.
The diff coverage is 83.67%.

❗ Current head 8e44193 differs from pull request most recent head 5b71409. Consider uploading reports for the commit 5b71409 to get more accurate results

@@            Coverage Diff             @@
##             main     #115      +/-   ##
==========================================
- Coverage   73.63%   73.39%   -0.24%     
==========================================
  Files         112      112              
  Lines        9098     9039      -59     
==========================================
- Hits         6699     6634      -65     
- Misses       2399     2405       +6     

Files Changed	Coverage Δ
ark/gpu/gpu_mgr_test.cc	100.00% <ø> (ø)
ark/ipc/ipc_mem.cc	63.86% <64.28%> (-11.65%)	⬇️
ark/gpu/gpu_mgr.cc	66.91% <71.42%> (-0.62%)	⬇️
ark/gpu/gpu_comm_sw.cc	77.27% <85.54%> (-1.78%)	⬇️
ark/gpu/gpu_mem.cc	82.75% <86.15%> (+0.30%)	⬆️
ark/gpu/gpu_buf.h	100.00% <100.00%> (ø)
ark/gpu/gpu_kernel.cc	82.92% <100.00%> (ø)
ark/gpu/gpu_mem.h	100.00% <100.00%> (ø)
ark/gpu/gpu_mem_test.cc	100.00% <100.00%> (ø)
ark/ipc/ipc_mem.h	100.00% <100.00%> (ø)
... and 4 more

... and 1 file with indirect coverage changes

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