Add test for codec change

Add test for codec change

Update module pion/ice to v0.7.13

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Update comment for AttrKeyMsid

Remove TODO and add explanation how this maps to MediaStream.id in the
browser.

Update module pion/srtp to v1.3.1

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Handle changing role during re-negotiation

On all subsequent re-offers make sure to order
of media sections.

Add TestPeerConnection_RoleSwitch to assert this behavior

Resolves pion#1058

Update module pion/ice to v0.7.9

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Update module pion/datachannel to v1.4.15

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Add ResetReader func to IVFReader

Add ResetReader function for resetting the underlying file
in IVFReader. This is for keeping the stream alive if the file
is being encoded at the same time as it's being streamed.
It takes in a function that returns an io.Reader. A sample
function might look like:
func(bytesRead int64) io.Reader {
	underlyingFile.Seek(bytesRead, io.SeekStart)
	return underlyingFile
}
and you would call it when ivf.ParseNextFrame(...) returns
an error indicating incomplete data.

Properly sanitize STUN urls

Currently we error if a STUN URL passed to Configuration.ICEServers
contained a query parameter. Fix this by using the getICEServers
function that sanitizes these for us.

Add SettingEngine entries needed for offline sync

Allow users to set statice ICECredentials and to disable
DTLS Certificate Verification