Better property handling

[zafer-esen]

This is a large PR adding support for checking SV-COMP style properties in TriCera.

Checked properties can now also be toggled, or using the -splitProperties option checked individually in sequence.

Properties to check can be specified using SV-COMP's task definition format, or passed through the command-line interface. Explicit assert statements are always checked, and if no properties are specified, the unreachability of the error function reach_error is checked by default.

Memory safety properties are not checked by default now, which was the case before. See the properties section of TriCera help documentation.

The PR also fixes a few lingering issues and improves on others:

• Now failing assertions will provide more information on what went wrong (i.e., the violated property).
• Above also extends into function contracts: if the pre/post-condition of a function is not satisfied, TriCera will point out to the violated property and where the violation happens.
• Printed solutions sometimes contained errors due to an implementation containing string replacement - this is fixed by eliminating string replacement, which should be much more robust.
• Fixed the formatting of the help text.