Add has_state and has_command to hw_component_if (backport #2701)

[mergify]

A helper for easier logic inside of hardware components, for reference see #2694

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This is an automatic backport of pull request #2701 done by Mergify.

[mergify]

Cherry-pick of 6d27e9d has failed:

On branch mergify/bp/jazzy/pr-2701
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit 6d27e9d.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   hardware_interface/test/test_component_interfaces.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   hardware_interface/include/hardware_interface/hardware_component_interface.hpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[christophfroehlich]

needs #2491 first

[mergify]

This pull request is in conflict. Could you fix it @bmagyar @destogl @christophfroehlich @saikishor?

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 89.17%. Comparing base (929eaec) to head (70e23ac).
⚠️ Report is 1 commits behind head on jazzy.

Additional details and impacted files

@@           Coverage Diff           @@
##            jazzy    #2702   +/-   ##
=======================================
  Coverage   89.17%   89.17%           
=======================================
  Files         151      151           
  Lines       17071    17075    +4     
  Branches     1433     1433           
=======================================
+ Hits        15223    15227    +4     
  Misses       1285     1285           
  Partials      563      563           

Flag	Coverage Δ
unittests	89.17% <100.00%> (+<0.01%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...ardware_interface/hardware_component_interface.hpp	87.75% <100.00%> (+0.20%)	⬆️
...dware_interface/test/test_component_interfaces.cpp	97.88% <ø> (ø)

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