[dataflow] Add dedicated representation of boolean formulas

This is the first step in untangling the two current jobs of BoolValue.

=== Desired end-state: ===

- BoolValue will model C++ booleans e.g. held in StorageLocations.
  this includes describing uncertainty (e.g. "top" is a Value concern)
- Formula describes analysis-level assertions in terms of SAT atoms.

These can still be linked together: a BoolValue may have a corresponding
SAT atom which is constrained by formulas.

=== Done in this patch: ===

BoolValue is left intact, Formula is just the input type to the
SAT solver, and we build formulas as needed to invoke the solver.

=== Incidental changes to debug string printing: ===

- variables renamed from B0 etc to V0 etc
  B0 collides with the names of basic blocks, which is confusing when
  debugging flow conditions.
- debug printing of formulas (Formula and Atom) uses operator<<
  rather than debugString(), so works with gtest.
  Therefore moved out of DebugSupport.h
- Did the same to Solver::Result, and some helper changes to SolverTest,
  so that we get useful messages on unit test failures
- formulas are now printed as infix expressions on one line, rather than
  wrapped/indented S-exprs. My experience is that this is easier to scan
  FCs for small examples, and large ones are unreadable either way.
- most of the several debugString() functions for constraints/results
  are unused, so removed them rather than updating tests.
  Inlined the one that was actually used into its callsite.

Differential Revision: https://reviews.llvm.org/D153366