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As pointed out by raul, bootstrapping and refreshing are not the same thing.
Bootstrapping is the initial setup (i.e., connect to some initial nodes to get
started). Refreshing is the process of refreshing the routing table.

We can't generate target IDs in buckets beyond bucket 15 so there's no point.

The default timeout is 10s so this won't take that long anyways. On the
other hand, if we do this all at once, we max the swarms dial queue.

* Rename triggerAutoBootstrap to autoBootstrap. This variable used to control
_triggering_ only but now completely disables automatic bootstrapping.
* Remove the BootstrapConfig. We introduced this before we switched to
functional options. Now that we're breaking the interfaces anyways, we might as
well use functional options all the way (easier to extend).
* Always query self (feedback from @raulk).
* Important: don't abort the bootstrap process if we timeout finding ourselves.

1. Auto bootstrap on start.
2. Make `Bootstrap(ctx)` trigger a bootstrap but not _start_ the bootstrapping
   process.

1) on connecting to a new peer  -> trigger self & bucket bootstrap if RT size goes below thereshold
2) accept formatting & doc suggestions in the review
3) remove RT recovery code for now -> will address in a separate PR once #383 goes in

changes as per review

2) seed RT if empty before starting bootstrap incase 1 hasn't fired
3) pass bootstrap config as option while creating Dht
4) replace all bootstrap function with 1 function

It's impossible to find the self ID in the DHT because of this statement https://github.com/libp2p/go-libp2p-kad-dht/blob/ac6772539b80d687c8ed711024b104aaa881c1d6/handlers.go#L257
So maybe we should ignore the "not found" error in this case, like we do it for the random walk.

* Add IpfsDHT.{Bootstrap{Random,Self},Peer{Id,Key}}
* Include client mode tests, support for Ping, and uncruft setupDHTs
* Include xerrors in deps

* Remove signal bootstrapping

Remove IpfsDHT.BootstrapOnSignal.

* Type check expected interfaces on IpfsDHT

* Simplify the bootstrap logic

* Tidy up a few other things

* Include BootstrapOnce

* Add comment about duplicating sanity checks

* Use existing import naming convention

* Defer error wrapping until we need it

* Restore existing query count behaviour

Remove IpfsDHT.BootstrapOnSignal.

Remove IpfsDHT.BootstrapOnSignal.

Also contained in "dht.go" and prints twice in godoc.