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executor/boots: discover machines upon their first DHCP request

Martin Roukala requested to merge executor_discovery_speedup into master

This saves about 1 minute in the discovery process by dropping the double registration (first to add the machine, then because sergent hartman will start training the machine).

Additionally, it also provides faster feedback to users while also bringing us closer to supporting more boot methods.

Closes: #187 (closed)

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