A cache to avoid recomputing computation on stable data.

This PR is best described by the documentation on the included `cache.py`.  A summary of what went into it:
- a weeklong trip to Portland,
- ~14 food carts,
- ~5 coffee shops, and
- many miles of walking around.
All PyKronos tests require a Kronos server to be running. That test server is automatically fired up by runtests.py.