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Add logging and tracing

Tom Williams requested to merge logging-and-tracing into master

Logging:

  • Added configuration in CLI
  • Added log message to all major functions (e.g. those that interact with the boards, or can take a significant amount of time)

Tracing:

  • Record start time and duration of all key high-level procedures in this codebase, plus start time & duration of HERD commands & transitions
  • Write that to a file in google's trace event format if TRACE_EVENT_FILE environment variable is defined

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