Merge candidate with fixes for various issues

Changes for various fixes, but most notably the introduction of a configuration struct that can allows users to configure things like motion termination (CNT %) and speed, used server tags and TCP ports, flags and (position) registers. Settings default to the currently hard-coded values.

There is no validation of configuration entries yet. Will create an issue for that.

These changes also cause `ros_relay` and `ros_state` to use the central *Alarm Log* on the controller.