The codebase is filled with includes that are unused, and which thus can be removed. At the same time, the files often do not include all headers that contain the definitions used in those files. This change uses clang-format and clang-tidy to clean up the includes, with minor manual intervention to ensure the code compiles on all platforms.
* Copy Antithesis SDK version 0.4.0 to directory external/
* Add build option `voidstar` to enable instrumentation with Antithesis SDK
* Define instrumentation macros ASSERT and UNREACHABLE in terms of regular C assert
* Replace asserts with named ASSERT or UNREACHABLE
* Add UNREACHABLE to LogicError
* Document instrumentation macros in CONTRIBUTING.md
