feat(esapi): add missing TPM commands in integrity_collection_pcr

Added the following wrapper functions with integration tests for these commands:

- pcr_event (ESAPI spec 11.3.52)
- pcr_allocate (11.3.54)
- pcr_set_auth_policy (11.3.55)
- pcr_set_auth_value (11.3.56)

To make implementation of pcr_allocate clean, added return type PcrAllocateResult.

swtpm (libtpms) does not support PCR_SetAuthPolicy or PCR_SetAuthValue; these
commands return TPM_RC_VALUE. So their integration tests are marked #[ignore],
and their doc examples are marked no_run.

Signed-off-by: Takuma IMAMURA <209989118+hyperfinitism@users.noreply.github.com>

Author: hyperfinitism