FrankaProxy framework done the message dealing and test for state publish and control request

[ZhuoyueLi]

Summary

This PR introduces the core implementation of the FrankaProxy framework, which handles message encoding/decoding and test function for:

• ✅ State publishing
• ✅ Control request reception and processing

Details

• Designed and tested the message protocol for structured communication
• Added control mode abstraction (including idle mode) for future extensibility
• Built the basic framework of FrankaProxy

Initial tests have been performed for both state publishing and control start requests.