Better hal_core_alloc() semantics, assert() and printf() cleanup.

Various fixes extracted from the abandoned(-for-now?) reuse-cores
branch, principally:

* Change hal_core_alloc*() to support core reuse and to pick the
  least-recently-used core of a particular type otherwise;

* Replace assert() and printf() calls with hal_assert() and hal_log(),
  respectively.  assert() is particularly useless on the HSM, since it
  sends its error message into hyperspace then hangs the HSM.

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