shutdown nodes in reverse order of bringup

* Precise control of the contained node to improve shutdown reliability

* Add a couple TODO comments about further reducing code, eliminating duplication

* Add params for rolling window, no static layer

* Add a transform tolerance duration

* Add support for time differences

* Fixing a typo

* Missed a rebase issue.

* Make system test params match bringup params so this change gets tested

* Fix system test to use bringup params file

Addresses build errors when `-Werror=catch-value=` is specified.

Addresses build errors when `-Werror=class-memaccess` is specified.

fix linters and uncrustify

white line

use unordered map for transitions

* added recovery node

uncrustify