Introducing Antlr4 for cpsPath parsing

Introducing Antlr4 for cpsPath parsing

-created new module for cpPathParser
-added antlr rule for cpsPathWithSingleLeafCondition
-added antlr rule for cpsPathWithDescendant (and with leaf conditions)
-added antlr rule for ancestor axis
-added unit test (copied from existing CpsPathQuerySpec)
-udpated cps-ri to use new cpPathQuery from parser module
-'imported' lexer rules from publix xPath grammar
-Re-used existing CpsPathException but conversion happens in cps-ri to prevent additional dependency in cps-path-parser module

Issue-ID: CPS-376

Change-Id: I2c5df98969402cbf69f6573c52705879450ce606
Signed-off-by: ToineSiebelink <toine.siebelink@est.tech>