discovery: simplify interface

There's no real need to expose a Discoverer interface/struct when the
only use of the interface (and indeed the module) is to invoke a single
function. This isn't Java, after all. So instead, simplify to Discovery
exposing just two functions: JoinCluster (i.e. what was formerly called
"discovery"), and GetCluster (hitherto "ProxyDiscovery")
Merge pull request #1626 from jonboulle/proxy_stuff

discovery: simplify interface