add challenging authentication needed for cli

Adds the ability to issue authorization challenges back to callers of /authorize.  This is done based on the value of client.RespondWithChallenges which indicates that a particular client wants to be challenged for responses instead of being redirected.

This also adds a few new cli commands (request-token, validate-token, whoami) to exercise the new capabilities.  Right now, the command line client only recognizes basic auth challenges, but the code point for future extension to other challenges is present.

@liggitt review
Hmm, I suppose… We'd want a consistent rendering of the redirect links… We could render in sorted key order, but it still feels odd to leave that up to the renderer to decide