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client pings (#95)

* Add PINGs from client to server

* Renamed protobuf ConnectRequest#ping_maxOut to ping_max_out

* Renamed protobuf fields PubMsg#connID to PubMsg#conn_id and ConnectResponse#publicKey to ConnectResponse#public_key

* Refactored ping reponse handling

* Normalized close condition so they follow one of three paths:
 - closing due to user request
 - closing due to an error - calls the error handler, and the close handler

* added 'client replaced' test

* changes as per code review

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