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piv: implement key metadata retrieval
Add support for a YubiKey vendor extension to retrieve public metadata (including the public key, PIN/Touch policies and whether or not the key was hardware generated) for a given key slot. Also use this new method to determine the pin policy, for YubiKeys that support it. This is more general than using the attestation certificate, as it also works for keys that have been generated offline and imported into the hardware token. Fixes #129
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