Use `Controller::join_links()` in `RestfulService`

At the moment, `RestfulService` duplicates functionality of
`Controller::join_links` (badly) and it means that one MUST use a base
URL with a trailing slash for the URL to be constructed properly

Plus tests for `RestfulService::getAbsoluteRequestURL()`

API Deprecating `RestfulService::constructURL()`

This function isn't used in core so we should remove it
Merge pull request #3114 from dhensby/restful-service-links

MINOR use `Controller::join_links()` in `RestfulService`