rewrite ssh(1) multiplexing code to a more sensible protocol.

The new multiplexing code uses channels for the listener and
accepted control sockets to make the mux master non-blocking, so
no stalls when processing messages from a slave.

avoid use of fatal() in mux master protocol parsing so an errant slave
process cannot take down a running master.

implement requesting of port-forwards over multiplexed sessions. Any
port forwards requested by the slave are added to those the master has
established.

add support for stdio forwarding ("ssh -W host:port ...") in mux slaves.

document master/slave mux protocol so that other tools can use it to
control a running ssh(1). Note: there are no guarantees that this
protocol won't be incompatibly changed (though it is versioned).

feedback Salvador Fandino, dtucker@
channel changes ok markus@

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