Replace hand-written sync wrappers with a blocking_wrapper; german word 'programm'

[TeTi89]

Changes

Adds a small blocking_wrapper decorator and uses it to generate the blocking (sync) version of the *_async methods in CRIController, replacing the hand-written return _run_sync(self.xxx_async(...)) wrappers.

stop_move = blocking_wrapper(stop_move_async)
set_dout = blocking_wrapper(set_dout_async)
...

Function names with the german spelling 'programm' are changed into 'program'.

Details

• The decorator is typed with ParamSpec, so IDEs still show the real parameters and return type of each sync method (e.g. set_dout(id: int, value: bool)).
• The docstring is generated: Blocking wrapper around :meth:CRIController.xxx_async``.

Notes for review

• With the old hand-written wrappers, PyCharm reported wrong arguments (e.g. set_dout("a")) as errors. With the generated methods it may not, so such mistakes only show up at runtime or in an external type check.
• If better IDE support is more important than removing the boilerplate, the explicit wrappers can be kept for the most commonly used methods. This wrapper function replaced about 200 lines of code.

Testing

• Existing examples start_program.py and relative_move pass

[cpr-mab]

This seems good to me but since I'm unfamiliar with ParamSpec I can't tell if there are any undesirable effects. @cpr-bar can you evaluate this?

[cpr-mab]

I got issues running the examples but that should be caused by your branch being behind our repo rather than the change (that issue was fixed recently)