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a9b6bfdddd570753e52dca73169f70864502c38c

Switch tmux to use imsg. This is the last major change to make the client-server protocol more resilient and make the protocol versioning work properly. In future, the only things requiring a protocol version bump will be changes in the message structs, and (when both client and server have this change) mixing different versions should nicely report an error message. As a side effect this also makes the code tidier, fixes a problem with the way errors reported during server startup were handled, and supports fd passing (which will be used in future). Looked over by eric@, thanks. Please note that mixing a client with this change with an older server or vice versa may cause tmux to crash or hang - tmux should be completely exited before upgrading.
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