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Make Result.serialize work more like Graph.serialize
This patch makes the following changes to `Result.serialize`. * Return str by default instead of bytes. * Use "txt" as the default tabular serialization format. * Use "turtle" as the default graph serialization format. * Support both typing.IO[bytes] and typing.TextIO destinations. Corresponding changes are made to the specific serializers also. This patch also changes how text is written to typing.IO[bytes] in serializers to ensure that the buffer is flushed and detatched from the TextIOWrapper once the serialization function completes so it can be used normally afterwards. This patch further includes a bunch of additional type hints.
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