twister: pytest: flash 1/many images into many boards for one test

[JingsaiLu]

Is your feature request related to a problem? Please describe.

for this proposal, #83643
we need to build and flash 1 / many different zephyr apps into different boards,
such as

• for tests/bluetooth/shell, need to flash the shell image into 2 boards for BLE connection testing, and even > 2 boards for multi-link connections testing
• for samples/bluetooth/central_ht, testing with samples/bluetooth/peripheral_ht is the most common way.

have tried to do the multi-image build in this PR, #87980

Describe the solution you'd like

• add pytest args in twister and pytest harness to pass the domains.yaml to pytest , this domain could contain the harness app images,
• update board map.yaml format to include multi-harness boards configuration for one DuT, may be like below ,
• pass the map.yaml to pytest, so that pytest could flash the same/different images in domain.yml to different boards with west flash.

flash the image with the new different app_type into different boards

currently, only one DuT info will be passed to pytest,

Describe alternatives you've considered

Additional context

[hakehuang]

why we need flash the image to different boards every time? my assumptions are

1. for test purpose, there is always a benchmark board as test counter part, which needs to be flashed a fixed version of code.
2. samples for multi-connection. this need flash many boards with different image.