RTEMS | Make waf help command focused (#5774)

[Joel Sherrill (@joel)]

Issue created by Joel Sherrill: https://gitlab.rtems.org/rtems/rtos/rtems/-/work_items/5774



## Summary

_waf --help_ prints out all arguments along with a list of subcommands. The help would be improved if it followed the pattern used by the _git_ command. The top level help provides a list of subcommands and _waf subcommand --help_ provide help and arguments specific to that subcommand.

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View it on GitLab: https://gitlab.rtems.org/rtems/rtos/rtems/-/work_items/5774
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