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[Feature]: Dedicated protobuf schemas for RPCs in controller #77

Description

@jamesturner246

Description

druncschema changes for DUNE-DAQ/drunc#686

Dedicated protobuf message types for RPCs in controller:

take_control
who_is_in_charge
surrender_control
to_error

Potential impact radius

Medium

Reason for change

code hygiene, type safety

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