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router: slow-path in async packet processing (scionproto#4383)
Add a low-priority slow path for special case packet handling, in particular SCMP errors and traceroutes, for the the asynchronous packet processing pipeline in the router added in scionproto#4351. This is implementation part three of three described in the design document (scionproto#4339, doc/dev/design/BorderRouter.rst). Closes scionproto#4334
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