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SonarQube - Reduce Complexity (#143)

* Refactor binary.py/_dict_to_protobuf()

* Replace RawMessage which is deprecated

* Refactor binary.py/_build_control_command_message

* Refactor binary.py/_protobuf_to_dict()

* Renamed methods for consistency

* Update method names to match previous renaming

* Refactor _build_control_command_parsed_message()

* Extract printing diagnostic response

* Remove unnecessary conditional statement

* Refactor control.py/main()

* Minimal refactor of scanner.py/scan()

* Refactor structures.py/merge_message()

* Refactor base.py/run()

313 of 313 new or added lines in 6 files covered. (100.0%)

1735 of 2805 relevant lines covered (61.85%)

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