samples: ipc: ipm_mcux: Add testing harness

Add console testing harness for expected output.  This allows us
to validate that the test is running properly on hardware.

We expect output of the form:

Hello World from MASTER! ARM
Received: 1
Received: 2
Received: 3
...
Received: 20
Received: 21
Received: 22
...

Signed-off-by: Kumar Gala <kumar.gala@linaro.org>