Various improvements to menhir parser, and performance improvments for Z3 calls

New option -memo_z3 memoizes calls to the Z3 solver, and saves these
results between calls to sail. This greatly increases the performance
of sail when re-checking large specifications by about an order of
magnitude. For example:

time sail -no_effects prelude.sail aarch64_no_vector.sail

real	0m4.391s
user	0m0.856s
sys	0m0.464s

After running with -memo_z3 once, running again gives:

time sail -memo_z3 -no_effects prelude.sail aarch64_no_vector.sail

real	0m0.457s
user	0m0.448s
sys	0m0.008s

Both the old and the new parser should now have better error messages
where the location of the parse error is displayed visually in the
error message and highlighted.

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