cli: don't read/write readline history more than once
Previously, when creating multiple CLI objects, each one would append the ~/.mininet_history file to readline's internal list. When writing the file back it would be duplicated for each CLI object created. So, over a few mininet runs the history file would grow exponentially. This change moves the readline setup code out of the CLI constructor into a class method and adds a flag to prevent it from being executed more than once.
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