Device is only heartbeated when authenticated
Chirp sends data field correctly on router
Heartbeat period can be read from conf file
Added changing heartbeat at runtime
sleeping heartbeat thread is interrupted on change
simplified payload handling a bit at dispatch
cleaned up some sansgrid commands

changed strict-auth, loose-auth into
auth=strict
auth=loose

config file is parsed a little smarter
more things are shown in sansgridrouter status
Worked on standardizing some daemon commands

worked on getting command=option on a couple things, like auth=strict
or auth=loose, network=hidden or network=shown, etc
Slightly improved packet command parsing
Router allows no authentication

Note that right now this just means that the system won't complain
until the packet is prepped to be sent. Then it complains and doesn't
send. This functionality may not be implemented, so for now auth=none
has undefined behavior. Later it'll cause the sansgridrouter to act
exactly like a switch
auth types strict, filtered, and loose work now
Merge branch 'testing'