New trie-based Router (#21)

* rewrite router to be trie based

* enable a new route registration system based on groups

* use route builder for tests

* add new router tests

* add error rendering to the new router system

* middleware in groups

public middleware

* update docs

* delete an unused type

* add a test

* add a test case for a very complex edge case

* code cleanup

update swift-nio

publicize a way to get the status code and additional headers

add tests for URLBodyParameter and add support for empty strings

if the uri can't be parsed, failed the request

update docs with BundleFiles

remove the externallyVisible property on ReportableError, all reporta…

…ble errors are externally visible

fix bug with url body parameters

add URLBodyParameter

make BasicError's init public