Fix reload support in relayd(8) by reimplementing large parts of the

daemon infrastructure. The previous design made it fairly hard to
reload the complex data structures, especially relays and protocols.
One of the reasons was that the privsep'd relayd processes had two
ways of getting their configuration: 1) from memory after forking from
the parent process and 2) and (partially) via imsgs after reload.  The
new implementation first forks the privsep'd children before the
parents loads the configuration and sends it via imsgs to them; so it
is only like 2) before.  It is based on an approach that I first
implemented for iked(8) and I also fixed many bugs in the code.

Thanks to many testers including dlg@ sthen@ phessler@
ok pyr@ dlg@ sthen@

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