derp, cmd/derper: add frameWatchConns, framePeerPresent for inter-DERP routing

This lets a trusted DERP client that knows a pre-shared key subscribe
to the connection list. Upon subscribing, they get the current set
of connected public keys, and then all changes over time.

This lets a set of DERP server peers within a region all stay connected to
each other and know which clients are connected to which nodes.

Updates #388

Signed-off-by: Brad Fitzpatrick <bradfitz@tailscale.com>

cmd/derper/derper_test.go

@@ -17,10 +17,11 @@ func TestProdAutocertHostPolicy(t *testing.T) {
 		{"derp.tailscale.com", true},
 		{"derp.tailscale.com.", true},
 		{"derp1.tailscale.com", true},
+		{"derp1b.tailscale.com", true},
 		{"derp2.tailscale.com", true},
 		{"derp02.tailscale.com", true},
 		{"derp-nyc.tailscale.com", true},
-		{"derpfoo.tailscale.com", false},
+		{"derpfoo.tailscale.com", true},
 		{"derp02.bar.tailscale.com", false},
 		{"example.net", false},
 	}