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fixes #274

chore(dep): update

Update deps:

* Switch to multiformats/go-base32
* Regenerate protobuf decoding code

Make max record age configurable

fix and simplify some bootstrapping logic

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.

feat(bootstrap): take autobootstrap to completion

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

Fixing for go 1.13

Feature/correct bootstrapping

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

metrics: fix memory leak