Revert "Revert "Redo comm package""

This reverts commit 20710eac4265b57ab506b38f4aac4be436370541.
Revert "Revert "Fix race condition in quorum.go""

This reverts commit d33481564457941f66593f2f290083dfa76b28b5.
Revert "Revert "Remove printfs""

This reverts commit f1559d0fcd93e7c3b0b51d89cdb378fac05284c4.