net/portmapper: add NAT-PMP client, move port mapping service probing

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* move probing out of netcheck into new net/portmapper package
* use PCP ANNOUNCE op codes for PCP discovery, rather than causing
  short-lived (sub-second) side effects with a 1-second-expiring map +
  delete.
* track when we heard things from the router so we can be less wasteful
  in querying the router's port mapping services in the future
* use portmapper from magicsock to map a public port

Fixes #1298
Fixes #1080
Fixes #1001
Updates #864

Signed-off-by: Brad Fitzpatrick <bradfitz@tailscale.com>

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