Expose tracer.printEpoch with string consumer in watchdog and commandScheduler. #6583
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If wanted, I can change wpi::raw_ostream to something else, like std::function<>.
Also did not expose to InteractiveRobotBase but can if wanted to just by exposing the watchdog's printEpoch function.
#6582 and #6581 only expose printing, this PR is made to expose the consumer instead.