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relay_cell: Update decoding API to support prop340 format

Jim Newsome requested to merge jnewsome/arti:prop340-decoding-api into main

Prop 340:
https://spec.torproject.org/proposals/340-packed-and-fragmented.html

This updates the decoding API to support multiple versions of the relay
cell encoding, including the new encoding proposed in prop340 that
supports relay message packing and fragmentation.

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