John Newbery fc2aa09cf3 [tests] Introduce TestNode
TestNode is a class responsible for all state related to a bitcoind node
under test. It stores local state, is responsible for tracking the
bitcoind process and delegates unrecognised messages to the RPC
connection.

This commit changes start_nodes and stop_nodes to start and stop the
bitcoind nodes in parallel, making test setup and teardown much faster.

Github-Pull: #10711
Rebased-From: 7897338918dac072e788b8ab2919d4559f311bef
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