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cdtp.py: use msgpack only for BOR/EOR

Hanno Perrey requested to merge py-cdtp-follow-spec into main

This MR removes packing/unpacking of payload in the CDTP implementation and adds support for multi-frame payload.

Closes #110 (closed) and work towards implementing suggestions in !262 (merged).

Feedback/further tests very welcome!

Edited by Stephan Lachnit

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