implement and document Pipelines, see #3174

- heavily inspired by spray.io.Pipeline
- fully functional style: a stage returns the resulting commands and
  events, which makes it impossible to mess with the pipeline from the
  inside
- object allocations are optimized away for emtpy and 1-elem results
- added type-safety, verifying that stages match up
- management commands “from the side” for configuration or async events
- full Java API and docs