cooker: Rewrite dependency dot file generation

The package-depends.dot and pn-depends.dot files are inaccurate, missing
out key dependencies such those made via the [depends] flags. As such
they can be misleading to the user.

They mainly exist for historical reasons, coming from a time before
we had task based execution.

This commit removes the two dated file formats and replaces them with
a recipe-depends.dot which is a flattened version of task-depends.dot.

The old format files are removed if present so that the user can't get
confused about why data might not match between files.

The code is also rewritten to use 'with f: f.write()' syntax as is more
commonly used now.

Also update the docs to match the change.

Signed-off-by: Richard Purdie <richard.purdie@linuxfoundation.org>

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