This commit adds ZMTP connection heartbeats described in
http://rfc.zeromq.org/spec:37/ZMTP.

Of course people still "can" distributed the sources under the
LGPLv3. However we provide COPYING.LESSER with additional grants.

Solution: specify these grants in the header of each source file.

Solution: update for 2015

Fixes #1320

There are two todo comments in curve_client.cpp and curve_server.cpp that suggest
checking the return code of sodium_init() call. sodium_init() returns -1 on error,
0 on success and 1 if it has been called before and is already initalized:
https://github.com/jedisct1/libsodium/blob/master/src/libsodium/sodium/core.c

Solution: ensure message short nonces are strictly increasing and validate them

- also prioritize ZAP metadata over ZMTP metadata in case application
  uses same names.

- additional messages to help people debugging security errors

- just prints server-side failures to console
- can be improved over time, e.g. enabled at build time or
  sent to inproc debug channel

The get_credential () member function returns
credential for the last peer we received message for.
The idea is that this function is used to implement user-level API.

* The INITIATE command vouch box is Box[C',S](C->S') instead of Box[C'](C->S),
  as recommended by https://codesinchaos.wordpress.com/2012/09/09/curvecp-1/,
  to reduce the risk of client impersonation.

* Mirrors the change in libcurve and CurveZMQ specifications.

This reverts commit bfd472f9.

* This is passed to the ZAP handler in the 'domain' field

* If not set, or empty, then NULL security does not call the ZAP handler

* This resolves the phantom ZAP request syndrome seen with sockets where
  security was never intended (e.g. in test cases)

* This means if you install a ZAP handler, it will not get any requests
  for new connections until you take some explicit action, which can be
  setting a username/password for PLAIN, a key for CURVE, or the domain
  for NULL.

* Command names changed from null terminated to length-specified
* Command frames use the correct flag (bit 2)
* test_stream acts as test case for command frames
* Some code cleanups

- if ZAP server returns anything except 200, connection is closed
- all security tests now pass correctly
- test_security_curve now does proper client key authentication using test key
- test_security_plain now does proper password authentication

- Split off NULL security check from PLAIN
- Cleaned up test_linger code a little
- Got all tests to pass, added TODOs for outstanding issues
- Added ZAP authentication for NULL test case
- NULL mechanism was not passing server identity - fixed
- cleaned up test_security_plain and removed option double-checks (made code ugly)
- lowered timeout on expect_bounce_fail to 150 msec to speed up checks
- removed all sleeps from test_fork and simplified code (it still passes :-)

This change adds the socket identity infomartion from the socket to the
zap frames.  In doing this the ZAP is able preform different operations
based on different sockets.  This is not compaitable with the current ZAP
RFC, but that can be updated.  As the ZAP rfc is currently draft for I
did not change the version number.

Tests also modified and passing.

RFC23, RFC24, RFC26 now use variable-length command names that
end in null octet (valid C strings) instead of fixed-length
space padded strings.

- ZMQ_CURVE_PUBLICKEY for clients and servers
- ZMQ_CURVE_SECRETKEY for clients
- ZMQ_CURVE_SERVERKEY for clients
- ZMQ_CURVE_SERVER for servers
- added tools/curve_keygen.c as example
- updated man pages