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Refactor tests to optionally have emulator start and stop for each test
The trezor and keepkey emulators use the same port so they cannot be run at the same time. To work around this, the emulators are instead started and stopped before and after each test using unittest's setUp and tearDown functions. However, other devices which do not have conflicts can still be run at test suite creation time. This is still done for the coldcard. Furthermore, since the trezor and keepkey both create and use emulator.img files in the current working directory, when they are started, the working directory is changed to be the one containing the emulator executable to avoid conflicting emulator.img files
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