Use ICE role to set DTLS role in answer

When creating answer, check ICE role while determining DTLS role.
ORTC thread on how roles are set
w3c/ortc#167 (comment)

When remote is ice-lite and there is no answering role set,
the answer uses the default which is DTLS client. So 'setup'
is set as 'active' and answer sent.

But, when DTLS transport is started, it checks the ICE role
and sets itself as DTLS server (because remote is lite
and hence local agent becomes controlling ICE agent).

So, both sides end up being DTLS server and nobody sends
client hello.

Don't close the SRTP Stream in handleIncomingSSRC

`AcceptStream` will then be fired again for this SSRC. We depend on the
behavior of AcceptStream only returning once for each SSRC.

Update module github.com/pion/dtls/v2 to v2.1.1

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Update module github.com/pion/interceptor to v0.1.6

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Set up RTP Receivers synchronously

Do the set up of RTP receivers synchronously so that they
are ready to receive media as soon as signalling to remote
side is sent. Once signalling to remote side is sent, the
remote can send media at any time and receiver has to be ready.

Like the bug mentions, a negotiation quickly followed by
a renegotiation left the RTP receivers of the tracks in the
second offer not set up. If the tracks in the renegotiation
happen to be simulcast tracks, they are missed as browsers
send RID only in the first few packets.

The problem can be reproduced by introducing a 1 second
delay in Downstream direction in Network Link Conditioner
and using a modified version of LiveKit JS SDK sample app to
force a double negotiation spaced closely.

With this change, onTrack fires, but the unhandled warning
from RTCP for the highest layer still happens. But, the
track fires almost immediately following that warning
(less than 5 ms later). So, all the simulcast layers
are available.

Resolves pion#2054

Add ability to set RTP stream ID on TrackLocal

This change makes it possible to set the RTP stream ID to
allow forwarding and production of simulcast streams.

Use audio negotiated PTs before video builtin PTs

This avoids a bug where negotiating Opus with PT 96 in an audio-only
session results in the VP8 codec being picked for a track (because
96 is the built-in type for VP8).

Revert "Process RTCP Packets in OnTrack examples"

This is not needed. We don't perform any operations on inbound RTCP
packets. Receiver Reports and TWCC are generated by Reading RTP packets.

This reverts commit 080d7b8.

Fix RTPSender.GetParameters crash

If a RTPSender doesn't have a track currently set and GetParameters is
called we would call a method on a nil pointer. Now instead of checking
the Track kind we store the kind in the RTPSender.

Resolves pion#2065

Update module github.com/pion/interceptor to v0.1.2

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