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Expose app api-spec at "GET /openapi.json"

 - Add new method `app.getApiSpec()` for obtaining
   the OpenAPI spec containing paths (routes) contributed by all
   different means we support
    * app.api()
    * app.route()
    * app.controller()

 - Expose a new REST endpoint "GET /openapi.json" that returns the
   specification provided by `app.getApiSpec()`. This endpoint is
   excluded from the spec.

 - Rework definition of Controller API to make top-level OpenAPI
   fields like "info" optional. Introduce a new interface
   "ControllerSpec" that's used by `@api()` and friends

 - Rename `getApiSpec()` to `getControllerSpec()` to make
   the intent more clear, and also to match the new return type
   `ControllerSpec`.

 - Add a new testlab method `validateApiSpec` that uses
   swagger-parser under the hood to validate OpenAPI spec
   document against OpenAPI specification.

 - Add `validateApiSpec` to our test suites, fix invalid specifications
   discovered by these new tests.

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