Add new assert expression to Sail

This splits the former functionality of exit into errors, which should now use assert(bool,option<string>), and a means of signalling actions such as instruction-level exceptions, interrupts, or other features that impact the ISA. The latter will now be tracked with an effect escape, and so any function containing exit and declared pure will generate a type error.

WARNING: ARM spec will not build with this commit until I modify it. MIPS spec will not build with this commit until modified.

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