The most visible change is event-based dialing, which should be an
improvement over the timer-based system that we have at the moment.
The dialer gets a chance to compute new tasks whenever peers change or
dials complete. This is better than checking peers on a timer because
dials happen faster. The dialer can now make more precise decisions
about whom to dial based on the peer set and we can test those
decisions without actually opening any sockets.

Peer management is easier to test because the tests can inject
connections at checkpoints (after enc handshake, after protocol
handshake).

Most of the handshake stuff is now part of the RLPx code. It could be
exported or move to its own package because it is no longer entangled
with Server logic.

The returned reason is currently not used except for the log
message. This change makes the log messages a bit more useful.
The handshake code also returns the remote reason.

There were multiple synchronization issues in the disconnect handling,
all caused by the odd special-casing of Peer.readLoop errors. Remove the
special handling of read errors and make readLoop part of the Peer
WaitGroup.

Thanks to @Gustav-Simonsson for pointing at arrows in a diagram
and playing rubber-duck.

Message encoding functions have been renamed to catch any uses.
The switch to the new encoder can cause subtle incompatibilities.
If there are any users outside of our tree, they will at least be
alerted that there was a change.

NewMsg no longer exists. The replacements for EncodeMsg are called
Send and SendItems.

With RLPx frames, the message code is contained in the
frame and is no longer part of the encoded data.

EncodeMsg, Msg.Decode have been updated to match.
Code that decodes RLP directly from Msg.Payload will need
to change.

The diff is a bit bigger than expected because the protocol handshake
logic has moved out of Peer. This is necessary because the protocol
handshake will have custom framing in the final protocol.

The unit test hooks were turned on 'in production'.

Overview of changes:

- ClientIdentity has been removed, use discover.NodeID
- Server now requires a private key to be set (instead of public key)
- Server performs the encryption handshake before launching Peer
- Dial logic takes peers from discover table
- Encryption handshake code has been cleaned up a bit
- baseProtocol is gone because we don't exchange peers anymore
- Some parts of baseProtocol have moved into Peer instead

...and make it a top-level function instead.

The original idea behind having EncodeMsg in the interface was that
implementations might be able to encode RLP data to their underlying
writer directly instead of buffering the encoded data. The encoder
will buffer anyway, so that doesn't matter anymore.

Given the recent problems with EncodeMsg (copy-pasted implementation
bug) I'd rather implement once, correctly.

Whoa, one more big commit. I didn't manage to untangle the
changes while working towards compatibility.