tests: switch to minitest

Ruby 1.9+ uses Minitest as the backend for Test::Unit. As of Minitest 5,
the shim no longer supports Test::Unit::TestCase.

Adjust the test suite to support Minitest 5's syntax.

Minitest versions 4 and below do not support the newer Minitest::Test
class that arrived in version 5. For that case, use the
MiniTest::Unit::TestCase class as a fallback.
Use defined? over const_defined to check for Minitest::Test
Merge pull request #937 from ktdreyer