halrmt: Fix the risk of exceptions in HAL query callbacks and add a test - #4557
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Similar to halmodule and halcmd in #4556. This PR ensures there be no exceptions in the HAL query callbacks.
Additionally, it updates halrmt with a test to make sure it works. The test loads RT modules, sets up signals and writes/reads pins/signals. The setup is just like a normal .hal file, but run remotely. In that process, it became clear that waiting for thread cycles was missing to prevent a race, which was subsequently implemented.