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util: DAG datastructure

Emma Anholt requested to merge anholt/mesa:dag into master

I've written this DAG code so many times now, I decided to try to share it. It's not a ton of savings per user, but I think it does clean up the schedulers, and provides a nicer traverse than I had done before.

The motivation was nir-schedule, which I have also rebased on this branch.

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