Allow empty programmer in `debug` command

arduino / arduino-cli

Arduino command line tool

GNU General Public License v3.0

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[X] The PR has no duplicates (please search among the Pull Requests before creating one)
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[X] Tests for the changes have been added (for bug fixes / features)
[ ] Docs have been added / updated (for bug fixes / features)
[ ] UPGRADING.md has been updated with a migration guide (for breaking changes)
[ ] configuration.schema.json updated if new parameters are added.

What kind of change does this PR introduce?

Allow optional programmer in debugging.

Normally configurations for debugging are layered one over the other in the following order:

platforms.txt
boards.txt (the part relative to the board selected)
boards.txt (the parts relative to the board options selected)
programmers.txt (the part relative to the programmer selected)

BTW some platforms seem to have managed to go without the programmers.txt facility. This is a tentative fix to support them.

What is the current behavior?

The CLI will fail to debug with the missing programmer error.

What is the new behavior?

The CLI will try to proceed with the debugging anyway.

Does this PR introduce a breaking change, and is titled accordingly?

Other information

This PR builds upon Arduino CLI 0.35.2. @ubidefeo @kittaakos @per1234

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Comparison is base (01de174) 63.69% compared to head (de50b32) 63.59%.

Additional details and impacted files

```diff @@ Coverage Diff @@ ## 0.35.x #2540 +/- ## ========================================== - Coverage 63.69% 63.59% -0.11% ========================================== Files 206 206 Lines 19487 19485 -2 ========================================== - Hits 12412 12391 -21 - Misses 6012 6031 +19 Partials 1063 1063 ``` | [Flag](https://app.codecov.io/gh/arduino/arduino-cli/pull/2540/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=arduino) | Coverage Δ | | |---|---|---| | [unit](https://app.codecov.io/gh/arduino/arduino-cli/pull/2540/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=arduino) | `63.59% <100.00%> (-0.11%)` | :arrow_down: | Flags with carried forward coverage won't be shown. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=arduino#carryforward-flags-in-the-pull-request-comment) to find out more.

arduino / arduino-cli