Correct history printing in main

This gives a runtime error at present. Return history and world_map
so that they can be printed out.
Disable the full json dump

This is enormous, so disable it by default and provide an option to print it.
terrain: Refactor dump_map to produce an array first

Since we want to be able to access the map in textual form, add
get_map_array() and make dump() use it.
Print map before and after each round

To aid in visualization, print the map before and after each round,
showing the terrain and robots.