[epilogue] Use more specific loggers at runtime, if available

[SamCarlberg]

The IO layer pattern is a fairly common solution for splitting real robot code from simulation code. Currently, Epilogue logging only uses the declared types of fields and methods, so data specific to a "real" IO implementation would not be loggable (or the base IO interface would need to expose functions for retrieving all the hardware-specific data). Doing a runtime switch to check for a more specific logger would be ideal

@Logged
interface IO {
  void setVoltage(Voltage v);
  AngularVelocity getSpeed();
}

@Logged
class RealIO implements IO {
  @Logged // Would not be included in logs for an IO object! Only for objects declared as a RealIO!
  public Current getStatorCurrent() { ... }

  ...
}

// Currently would be logged using the logger for the IO interface
IO io = new RealIO(); 

// Currently would be logged using the logger for the RealIO class
RealIO realIO = (RealIO) io;

This would be an update to the LoggableHandler class to inject if conditions into the generated code that check the logged object's class against known logger implementations for subtypes of the declared type. If the object's class is a subtype that has an @Logged annotation, then it should be logged using that class's generated logger instead of the generic logger for the element's declared type. Generated code should look something like this:

public void tryUpdate(DataLogger dataLogger, Foo object) {
  var io = (Foo.IO) $IO.get(object);
  if (io.getClass().equals(Foo.RealIO.class)) {
    Epilogue.FOO_REAL_IO_LOGGER.tryUpdate(dataLogger.getSubLogger("IO"), (Foo.RealIO) io);
  } else {
    // Fall back to the generic logger
    Epilogue.FOO_IO_LOGGER.tryUpdate(dataLogger.getSubLogger("IO"), io);
  }
}