Re-introduce cuda streams #550
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For now, this "just" adds a single stream, and moves as many operations there as possible
(everything except device->host memcpy, if I haven't missed anything)
to ensure that "local reasoning" is enough to understand any stream parallism and host-device asynchronicity, for now, every "main" function ends with a full device synchronization.
We may want to lift that restriction in the future, but we should be very careful about that.