armv8r64-extras/oeqa: Adapt zephyr and rpmsg test cases to single domU

* Zephyr and rpmsg test cases are not adapt to single domU, add this
  patch to solve this.
* Split test cases for baremetal-linux and virtualization to two
  .bbclass files.
* Update the name of zephyr console in zephyr test case.

Issue-Id: SCM-5560
Signed-off-by: Jiacheng Tang <jiacheng.tang@arm.com>
Change-Id: Ib38cb36f7504b0a70127ca275709b04bd69a19e3