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Protocol 3.3 and encrypted discovery (#214)

* Add check for set resolver

* Don't emit event on set ACK

* Don't emit event on set ACK

* Hacked in support for protocol 3.3 and new UDP broadcast

* MessageParser.decode now attempts to parse JSON after decryption
Cipher.decrypt now always outputs a string, as MessageParser handles JSON parsing
Updated cipher tests to account for this API change
Tests now pass

* Rollback cipher changes for now -- saving breaking changes for v6.0.0
Minor version bump to v5.1.0 as a result of the added protocol support

* Fixed 3.1 producing a buffer on decryption failure
Fixed 3.3 crc being taken before the payload is written

* Removed debug used during testing

* Removed redundant try catch block, as it throws the errors it catches

* Moved some shared code from encode31() and encode33() to shared code path in encode()

* Updated tests for improved coverage, including 3.3 protocol code paths

* Refactored out encode31 and encode33 entirely as their differences could be contained to payload treatment

* Ensure that version is a string
Switched constructor to terse defaults pattern

* Moved UDP key to its own file
Added note about using protocol 3.3 without find()

110 of 119 branches covered (92.44%)

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84 of 84 new or added lines in 3 files covered. (100.0%)

284 of 312 relevant lines covered (91.03%)

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