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Rename print_helper target to print_helper-lib, gate demo executable

Divye Dave requested to merge divye-dev into master
  • Added LIB_DEMO_ENABLE option (default OFF) to gate the demo executable
  • Drop -Wall -Wextra -Werror compile options, redundant enable_language(C CXX) call
  • Pass -DLIB_DEMO_ENABLE=ON in CI docs job CMAKE_ARGS

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