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Refine config file format (contexts section)

Tom Williams requested to merge refine-config into master

This branch updates the format of the context section of the configuration file.

Thus far, the following syntax was used to set parameters for specific sections:

contexts:
  parameters:
    <parameter_id>: <parameter_value>
  parameters/<command_id>:
    <parameter_id>: <parameter_value>

However, after writing configs for a few slice tests, I think it would be more intuitive to put the parameter values for specific commands under submaps within the parameters section - as well as to be able to specify the command ID on the same line as a shortcut, and to support comma-separated lists of commands whereever a single command ID can be specified. I.e:

contexts:
  <context_id>:

    parameters:
      <parameter_id>: <parameter_value>

      <command_id>:<parameter_id>: <parameter_value>

      §<command_id>:
        <parameter_id>: <parameter_value>

This branch implements this change (as well as improving some of the error message for config file parsing).

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