Discard unreachable code in the register allocator (#7574)

The problem with unreachable code is that it might refer to undefined
registers.  This happens accidentally: a block can be orphaned by an
optimisation, for example when the result of a comparsion becomes
known.

The register allocator panics when it finds an undefined register,
because they shouldn't occur in generated code.  So we need to also
discard unreachable code to prevent this panic being triggered by
optimisations.

The register alloator already does a strongly-connected component
analysis, so it ought to be easy to make it discard unreachable code
as part of that traversal.  It turns out that we need a different
variant of the scc algorithm to do that (see Digraph), however the new
variant also generates slightly better code by putting the blocks
within a loop in a better order for register allocation.