Configuration reading/parsing/testing

[belimawr]

The goal is to be able to receive a configuration, parse, test, and use it. At the moment the focus is on reading a configuration YAML, but the implementation should be easily pluggable into the control protocol V2.

Acceptance criteria:

• Read/parse a YAML config file.
• Implement config validation
• Provide examples/reference
• Logging configuration (if not part of the control protocol must also be included)
• Basic input configuration (id, etc)
• Refuses to start if config is invalid

[belimawr]

A bit of the configuration has been added by #41, however there are many details to be ironed out, like improving the config key names, and fixing some parsing issues.