Switch tmux to use imsg. This is the last major change to make the

client-server protocol more resilient and make the protocol versioning work
properly. In future, the only things requiring a protocol version bump will be
changes in the message structs, and (when both client and server have this
change) mixing different versions should nicely report an error message.

As a side effect this also makes the code tidier, fixes a problem with the way
errors reported during server startup were handled, and supports fd passing
(which will be used in future).

Looked over by eric@, thanks.

Please note that mixing a client with this change with an older server or vice
versa may cause tmux to crash or hang - tmux should be completely exited before
upgrading.

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