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Refactor assertions

* Use our own AssertionError class. Now we can track the assertion
rather than abusing the operator field. We can also stop depending on
`core-assert` once we implement `t.throws()` ourselves
* Directly create `AssertionError`s, making it easier to specify the
varying options
* Default the assertion message to an empty string, removing workarounds
in the mini and verbose reporters
* Improve `t.plan()` assertion errors. Specify 'plan' as the assertion,
and use `===` as the operator
* Refactor `t.throws()` and `t.notThrows()`, improving readability and
fixing #1227
* Move knowledge of when to show output into `serialize-error.js`. It
sat kind of awkwardly in `assert.js`
* Always try to format errors in mini and verbose reporters, check
if actual / expected values are available when formatting
* Wrap assertions in `assert.js` for use with the `ExecutionContext`
* Only enhance the power-assert assertions, don't use `empower-core`
to wrap the others
* Remove superfluous `empower-core` 'originalMessage' handling. Our
assertions create `AssertionError`s with the correct message
* Refactor overloaded `Test#_assert()` method. Note that only
`t.throws()` and `notThrows()` are (possibly) asynchronous

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