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v0.2.1: various fixes from SCA development

Pierre-Alain Loizeau requested to merge v0_2_1_scadevfixes into master
  • AgentContext: add accessor for last ping in ms
  • BaseCmdAgent: make set_subagent_master compatible with call while terminating
  • BaseCmdAgent: release subagents if terminate w/o cleanup by set master to top + rel. fixes
  • CmdCoreAgent: in process_heartbeat, ensure top agent always followed
  • EcsCoreAgent: in uninit to init trans, do not configure and error if no config tag
  • Change default ports to the ones defined in previous prototype + doc

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