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GuardMgr: decouple NetDir from guards and sample code.

Nick Mathewson requested to merge nickm/arti:guards_as_bridges_part3 into main

This branch introduces a new crate-internal trait, Universe, implemented by NetDir. It exposes only the functionality needed so that guards can be built and updated from a NetDir.

This decoupling will allow us to also implement Universe for BridgeDescList or such.

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