Co-authored-by: Felix Lange <fjl@twurst.com>

This change improves discovery behavior in small networks. Very small
networks would often fail to bootstrap because all member nodes were
dropping table content due to findnode failure. The check is now changed
to avoid dropping nodes on findnode failure when their bucket is almost
empty. It also relaxes the liveness check requirement for FINDNODE/v4
response nodes, returning unverified nodes as results when there aren't
any verified nodes yet.

The "findnode failed" log now reports whether the node was dropped
instead of the number of results. The value of the "results" was
always zero by definition.
Co-authored-by: Felix Lange <fjl@twurst.com>

This adds an implementation of the current discovery v5 spec.

There is full integration with cmd/devp2p and enode.Iterator in this
version. In theory we could enable the new protocol as a replacement of
discovery v4 at any time. In practice, there will likely be a few more
changes to the spec and implementation before this can happen.

* p2p/discover: slow down lookups on empty table

* p2p/discover: wake from slowdown sleep when table is closed

* p2p/enode: add Iterator and associated utilities

* p2p/discover: add RandomNodes iterator

* p2p: dial using iterator

* cmd/devp2p: add discv4 crawler

* cmd/devp2p: WIP nodeset filter

* cmd/devp2p: fixup lesFilter

* core/forkid: add NewStaticFilter

* cmd/devp2p: make -eth-network filter actually work

* cmd/devp2p: improve crawl timestamp handling

* cmd/devp2p: fix typo

* p2p/enode: fix comment typos

* p2p/discover: fix comment typos

* p2p/discover: rename lookup.next to 'advance'

* p2p: lower discovery mixer timeout

* p2p/enode: implement dynamic FairMix timeouts

* cmd/devp2p: add ropsten support in -eth-network filter

* cmd/devp2p: tweak crawler log message