Remaining dedicated grpc messages refactor

[jamesturner246]

Description

Resolves #686.

Refactors the remaining controller fns: take_control, submit_control, who_is_in_control, to_error, and gives them their own message types.

Also remove a whole lot of the older code.

Type of change

• Documentation (non-breaking change that adds or improves the documentation)
• New feature (non-breaking change which adds functionality)
• Optimization (non-breaking, back-end change that speeds up the code)
• Bug fix (non-breaking change which fixes an issue)
• Breaking change (whatever its nature)

Key checklist

• All tests pass (eg. python -m pytest)
• Pre-commit hooks run successfully (eg. pre-commit run --all-files)

Further checks

• Code is commented, particularly in hard-to-understand areas
• Tests added or an issue has been opened to tackle that in the future.
  (Indicate issue here: # (issue))