Add swift user and project in non-default domain

Swift has functional tests that check access controls
between users and projects in differing domains. Those tests
are currently skipped by default since swift tests are
configured to use keystone v2 API. In order for those
tests to pass when using keystone v3 API, a user and
project must be setup in a non-default domain.

This patch creates a domain, and a user and project in
that domain, in support of swift functional tests moving
to using keystone v3 API.

Changes:
lib/swift
    - create a new domain, project and user for
      swift testing
    - add new project and user credentials to swift
      test config file
    - set correct identity service url in swift test
      config file according to kesytone API version

functions-common
    - add function get_or_create_domain
    - modify get_or_create_user and get_or_create_project
      functions to optionally specify a domain

Change-Id: I557de01bf196075f2f3adcdf4dd1b43756d8a0ae
Merge "Add swift user and project in non-default domain"