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[Enhancement] Improve error handling and assertion messages across runtime and argument binding (#1356)

This commit enhances the error handling mechanisms in the runtime by introducing CPU-safe runtime helpers and refining assertion messages in the CodeGenCHost and ArgBinder. It includes structured packed error messages for various conditions, improving clarity in diagnostics. Additionally, the CMake configuration is updated to always include necessary runtime helpers, ensuring consistent error reporting. The changes aim to provide clearer feedback during runtime errors and improve the overall robustness of the argument binding process.

* [Refactor] Improve assertion handling in CodeGenCHost and ArgBinder

This commit refines the assertion message generation in CodeGenCHost by optimizing the handling of equality checks and reducing buffer size for error messages. Additionally, it enhances the ArgBinder by introducing a nullable guard mechanism for assertions, allowing for more precise error handling when binding arguments. The changes improve the clarity and efficiency of assertion handling across the codebase.

* [Enhancement] Update matmul kernel and optimize argument binding

This commit enhances the matmul kernel by introducing additional tensor parameters and refining the pipeline stages for improved performance. It also updates the argument binding mechanism to include a flag indicating whether buffers are used, enhancing the efficiency of buffer management. Furthermore, the optimization phase in the engine is improved by adding a simplification step, ensur...