cmd/swarm, swarm/api/client: add HTTP API client and 'swarm ls' command (#3742)

This adds a swarm ls command which lists files and directories stored in a
manifest. Rather than listing all files, it uses "directory prefixes" in case there are a
lot of files in a manifest but you just want to traverse it.

This also includes some refactoring to the tests and the introduction of a
swarm/api/client package to make things easier to test.