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Update version for 9.4.0rc1

Anton Joubert requested to merge prepare-v9.4.0rc1 into develop

This is an early release candidate for 9.4.0. Importantly, the API change to empty image and spectrum attributes is still pending.

The Release.long_version field has been chosen over the Release.version field in __init__.py and utils.py since it include the suffix, like "rc1". The long_version is already used in setup.py as the package version.

This gives output like:

>>> import tango
>>> tango.__version__
'9.4.0rc1'

>>> print(tango.utils.info())
PyTango 9.4.0rc1 (9, 4, 0, 'rc', 1)
PyTango compiled with:
    Python : 3.10.6
    Numpy  : 1.23.4
    Tango  : 9.4.0
    Boost  : 1.80.0

PyTango runtime is:
    Python : 3.10.6
    Numpy  : 1.23.4
    Tango  : 9.4.0

PyTango running on:
uname_result(...)

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