Adding extra debugging utilities
Fixed subtle routing bug.

Bracket closing was being set incorrectly due to startpoint_prev === null being false when startpoint_prev was undefined.
Added more debugging utilities.
Added debugging tools.
Added a more flexible simplification of the path stems.

4 pt paths can be simplified to a straight line if applicable. I added this to the optimization method as opposed to initial connecting method so a path can be simplified if a box is removed which allows a separate path to be simplified to a straight line.
Merge branch 'autorouter_port'