[Core Profile] Implement `invokeaction` operation

[benfrancis]

As a developer consuming the gateway API, I want to be able to invoke an action so that I can perform some function on a device.

Implement the invokeaction protocol binding from the W3C WoT Profile Core Profile, as defined in https://w3c.github.io/wot-profile/#invokeaction

This was partially implemented in #2871 which resulted in WoT Thing Description compliance. To fully implement the invokeaction protocol binding from the Core Profile, the response payload needs to be updated to conform to the ActionStatus format defined in https://w3c.github.io/wot-profile/#async-action-response.