tools: improve user experience by choosing best certificate
automatically and print final response in a pretty way

ndns-update
 - pick the best certificate to sign the Update automatically
 - support multiple token for content option

ndns-dig
 - enhance output option
 - change behavior of iterative query controller when NS query is NACKed

logger
 - set default logger output to std::cerr

Change-Id: Ib06981c224ccad2a122a4505c84a60977184a55b