Simplify rule pretty printing

[flyingsilverfin]

What is the goal of this PR?

We update and simplify the way rules are pretty-printed. Rules now print the when inline and produce a more compact output:

define
rule a-rule: when {
    $x isa person;
    not {
        $x has name "Alice";
        $x has name "Bob";
    };
    {
        ($x) isa friendship;
    } or {
        ($x) isa employment;
    };
} then {
    $x has is_interesting true;
};

What are the changes implemented in this PR?

[typedb-bot]

PR Review Checklist

Do not edit the content of this comment. The PR reviewer should simply update this comment by ticking each review item below, as they get completed.

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Trivial Change

• This change is trivial and does not require a code or architecture review.

Code

• Packages, classes, and methods have a single domain of responsibility.
• Packages, classes, and methods are grouped into cohesive and consistent domain model.
• The code is canonical and the minimum required to achieve the goal.
• Modules, libraries, and APIs are easy to use, robust (foolproof and not errorprone), and tested.
• Logic and naming has clear narrative that communicates the accurate intent and responsibility of each module (e.g. method, class, etc.).
• The code is algorithmically efficient and scalable for the whole application.

Architecture

• Any required refactoring is completed, and the architecture does not introduce technical debt incidentally.
• Any required build and release automations are updated and/or implemented.
• Any new components follows a consistent style with respect to the pre-existing codebase.
• The architecture intuitively reflects the application domain, and is easy to understand.
• The architecture has a well-defined hierarchy of encapsulated components.
• The architecture is extensible and scalable.