proxy: retrieve ClientURLs from cluster

This is a simple solution to having the proxy keep up to date with the
state of the cluster. Basically, it uses the cluster configuration
provided at start up (i.e. with `-initial-cluster-state`) to determine
where to reach peer(s) in the cluster, and then it will periodically hit
the `/members` endpoint of those peer(s) (using the same mechanism that
`-cluster-state=existing` does to initialise) to update the set of valid
client URLs to proxy to.

This does not address discovery (#1376), and it would probably be better
to update the set of proxyURLs dynamically whenever we fetch the new
state of the cluster; but it needs a bit more thinking to have this done
in a clean way with the proxy interface.

Example in Procfile works again.