Resolve arch-security-consideration-hal-refuse-unsafe

[mmccool]

Resolves #905

• Remove at-risk assertion arch-security-consideration-hal-refuse-unsafe
• Keep statement, but downgrade (SHOULD -> should) to an informative statement
• Add informative text explaining what a HAL is and mentioning some implementation options (addresses issue #905)
• Add informative text stating that HAL-based software interlocks should not be the only safety measure

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