Refs #1317

* expose AuthEnc in the P2P config

if AuthEnc is true, dialed peers must have a node ID in the address and
it must match the persistent pubkey from the secret handshake.

Refs #1157

* fixes after my own review

* fix docs

* fix build failure

```
p2p/pex/pex_reactor_test.go:288:88: cannot use seed.NodeInfo().NetAddress() (type *p2p.NetAddress) as type string in array or slice literal
```

* p2p: introduce peerConn to simplify peer creation

* Introduce `peerConn` containing the known fields of `peer`
* `peer` only created in `sw.addPeer` once handshake is complete and NodeInfo is checked
* Eliminates some mutable variables and makes the code flow better
* Simplifies the `newXxxPeer` funcs
* Use ID instead of PubKey where possible.
        * SetPubKeyFilter -> SetIDFilter
        * nodeInfo.Validate takes ID
        * remove peer.PubKey()

* persistent node ids

* fixes from review

* test: use ip_plus_id.sh more

* fix invalid memory panic during fast_sync test

```
2018-02-21T06:30:05Z box887.localdomain docker/local_testnet_4[14907]: panic: runtime error: invalid memory address or nil pointer dereference
2018-02-21T06:30:05Z box887.localdomain docker/local_testnet_4[14907]: [signal SIGSEGV: segmentation violation code=0x1 addr=0x20 pc=0x98dd3e]
2018-02-21T06:30:05Z box887.localdomain docker/local_testnet_4[14907]:
2018-02-21T06:30:05Z box887.localdomain docker/local_testnet_4[14907]: goroutine 3432 [running]:
2018-02-21T06:30:05Z box887.localdomain docker/local_testnet_4[14907]: github.com/tendermint/tendermint/p2p.newOutboundPeerConn(0xc423fd1380, 0xc420933e00, 0x1, 0x1239a60, 0
xc420128c40, 0x2, 0x42caf6, 0xc42001f300, 0xc422831d98, 0xc4227951c0, ...)
2018-02-21T06:30:05Z box887.localdomain docker/local_testnet_4[14907]: #011/go/src/github.com/tendermint/tendermint/p2p/peer.go:123 +0x31e
2018-02-21T06:30:05Z box887.localdomain docker/local_testnet_4[14907]: github.com/tendermint/tendermint/p2p.(*Switch).addOutboundPeerWithConfig(0xc4200ad040, 0xc423fd1380, 0
xc420933e00, 0xc423f48801, 0x28, 0x2)
2018-02-21T06:30:05Z box887.localdomain docker/local_testnet_4[14907]: #011/go/src/github.com/tendermint/tendermint/p2p/switch.go:455 +0x12b
2018-02-21T06:30:05Z box887.localdomain docker/local_testnet_4[14907]: github.com/tendermint/tendermint/p2p.(*Switch).DialPeerWithAddress(0xc4200ad040, 0xc423fd1380, 0x1, 0x
0, 0x0)
2018-02-21T06:30:05Z box887.localdomain docker/local_testnet_4[14907]: #011/go/src/github.com/tendermint/tendermint/p2p/switch.go:371 +0xdc
2018-02-21T06:30:05Z box887.localdomain docker/local_testnet_4[14907]: github.com/tendermint/tendermint/p2p.(*Switch).reconnectToPeer(0xc4200ad040, 0x123e000, 0xc42007bb00)
2018-02-21T06:30:05Z box887.localdomain docker/local_testnet_4[14907]: #011/go/src/github.com/tendermint/tendermint/p2p/switch.go:290 +0x25f
2018-02-21T06:30:05Z box887.localdomain docker/local_testnet_4[14907]: created by github.com/tendermint/tendermint/p2p.(*Switch).StopPeerForError
2018-02-21T06:30:05Z box887.localdomain docker/local_testnet_4[14907]: #011/go/src/github.com/tendermint/tendermint/p2p/switch.go:256 +0x1b7
```

1. remove pointer
2. add Quit() method to Service interface

https://play.golang.org/p/gN21yO9IRs3

```
func waitWithCancel(f func() *clist.CElement, ctx context.Context) *clist.CElement {
	el := make(chan *clist.CElement, 1)
	select {
	case el <- f():
```
will just run f() blockingly, so this doesn't change much in terms of behavior.

See https://github.com/tendermint/tmlibs/issues/45

Noticed while auditing the code that we aren't respecting
(*net.Conn) SetDeadline errors which return after
a connection has been killed and is simultaneously
being used.

For example given program, without SetDeadline error checks
```go
package main

import (
  "log"
  "net"
  "time"
)

func main() {
  conn, err := net.Dial("tcp", "tendermint.com:443")
  if err != nil {
    log.Fatal(err)
  }
  go func() {
    <-time.After(400 * time.Millisecond)
    conn.Close()
  }()
  for i := 0; i < 5; i++ {
    if err := conn.SetDeadline(time.Now().Add(time.Duration(10 * time.Second))); err != nil {
      log.Fatalf("set deadline #%d, err: %v", i, err)
    }
    log.Printf("Successfully set deadline #%d", i)
    <-time.After(150 * time.Millisecond)
  }
}
```

erraneously gives
```shell
2017/11/14 17:46:28 Successfully set deadline #0
2017/11/14 17:46:29 Successfully set deadline #1
2017/11/14 17:46:29 Successfully set deadline #2
2017/11/14 17:46:29 Successfully set deadline #3
2017/11/14 17:46:29 Successfully set deadline #4
```

However, if we properly fix it to respect that error with
```diff
--- wild.go 2017-11-14 17:44:38.000000000 -0700
+++ main.go 2017-11-14 17:45:40.000000000 -0700
@@ -16,7 +16,9 @@
    conn.Close()
  }()
  for i := 0; i < 5; i++ {
-   conn.SetDeadline(time.Now().Add(time.Duration(10 * time.Second)))
+   if err := conn.SetDeadline(time.Now().Add(time.Duration(10 *
time.Second))); err != nil {
+     log.Fatalf("set deadline #%d, err: %v", i, err)
+   }
    log.Printf("Successfully set deadline #%d", i)
    <-time.After(150 * time.Millisecond)
  }
```

properly catches any problems and gives
```shell
$ go run main.go
2017/11/14 17:43:44 Successfully set deadline #0
2017/11/14 17:43:45 Successfully set deadline #1
2017/11/14 17:43:45 Successfully set deadline #2
2017/11/14 17:43:45 set deadline #3, err: set tcp 10.182.253.51:57395:
use of closed network connection
exit status 1
```