Add ZMQ_REQ_REQUEST_IDS option.

* Documentation:
The default behavior of REQ sockets is to rely on the ordering of messages
to match requests and responses and that is usually sufficient. When this option
is set to 1, the REQ socket will prefix outgoing messages with an extra frame
containing a request id. That means the full message is (request id, 0,
user frames...). The REQ socket will discard all incoming messages that don't
begin with these two frames.

* Behavior change: When a REQ socket gets an invalid reply, it used to
  discard the message and return EAGAIN. REQ sockets still discard
  invalid messages, but keep looking at the next one automatically
  until a good one is found or there are no more messages.
* Add test_req_request_ids.