Simplifying and centralizing HTTP/2 exception handling logic

Motivation:

Currently, Http2LifecycleManager implements the exception handling logic
which makes it difficult to extend or modify the exception handling
behavior.  Simply overriding exceptionCaught() will only affect one of
the many possible exception paths. We need to reorganize the exception
handling code to centralize the exception handling logic into a single
place that can easily be extended by subclasses of
Http2ConnectionHandler.

Modifications:

Made Http2LifecycleManager an interface, implemented directly by
Http2ConnectionHandler. This adds a circular dependency between the
handler and the encoder/decoder, so I added builders for them that allow
the constructor of Http2ConnectionHandler to set itself as the lifecycle
manager and build them.

Changed Http2LifecycleManager.onHttpException to just
onException(Throwable) to simplify the interface. This method is now the
central control point for all exceptions. Subclasses now only need to
override onException() to intercept any exception encountered by the
handler.

Result:

HTTP/2 has more extensible exception handling, that is less likely to
see exceptions vanish into the ether.
@nmittler What is the difference between the `closeListener` and creating a `new ClosingChannelFutureListener`?  Is the `closeListener` just for streams?  If so should we rename it to make that more clear?