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Remove erldns_handler; add DNSSEC NSEC type-mapper extension (#355)

* Remove erldns_handler; add DNSSEC NSEC type-mapper extension

The packet_handlers mechanism (erldns_handler: handle/4, filter/1, and the
custom-handler dispatch inside erldns_resolver) is removed in favour of a single
extensibility mechanism: erldns_pipeline stages. Custom record types are now
handled entirely by pipeline stages placed after the resolver.

The one part of erldns_handler that was not dead -- the NSEC type-mapper registry
DNSSEC uses to widen NSEC type bitmaps for custom record types -- is replaced by a
pipeline-opts extension API on erldns_dnssec:

  - add_nsec_type_mapper/3: a stage registers, from its own prepare/1, how a custom
    record type widens the NSEC bitmap. Mappers are folded into the nsec_type_mappers
    opts map and read by call/2 as a plain map lookup -- no persistent_term registry,
    no gen_server hop.
  - erldns_dnssec:prepare/1 guarantees the key is present (non-clobbering, since it
    runs after the contributing stages) so call/2 matches it without a hot-path default.

erldns_resolver no longer dispatches custom handlers: ANY queries use the matched
records directly and a no-type-match returns NODATA. The erldns_handler worker is
removed from the pipeline supervisor.

Tests: handler_SUITE removed; resolver_SUITE/dnssec_SUITE no longer start
erldns_handler; dnssec_SUITE gains coverage for add_nsec_type_mapper/3 and
map_nsec_rr_types/3.

* Upgrade dependencies and prepare changelog

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