connector/saml: clean up SAML verification logic and comments

Fix entityIssuer -> ssoIssuer typo

Validate audience with entityIssuer if present, use redirectURI otherwise

Add ssoIssuer to fix Response issuer checking

Rename issuer to entityIssuer

connector/saml: fix validation bug with multiple Assertion elements

Introduces SAML tests which execute full response processing and
compare user attributes. tesdata now includes a full, self-signed
CA and documents signed using xmlsec1.

Adds deprication notices to existing tests, but don't remove them
since they still provide coverage.

When a SAML response provided multiple Assertion elements, only the
first one is checked for a valid signature. If the Assertion is
verified, the original Assertion is removed and the canonicalized
version is prepended to the Response. However, if there were
multiple assertions, the second assertion could end up first in the
list of Assertions, even if it was unsigned.

For example this:

    <Response>
      <!--
         Response unsigned. According to SAML spec must check
         assertion signature.
      -->
      <Assertion>
        <Signature>
          <!-- Correrctly signed assertion -->
        </Signature>
      </Assertion>

      <Assertion>
        <!-- Unsigned assertion inserted by attacker-->
      </Assertion>
    </Response>

could be verified then re-ordered to the following:

    <Response>
      <!--
         Response unsigned. According to SAML spec must check
         assertion signature.
      -->
      <Assertion>
        <!-- Unsigned assertion inserted by attacker-->
      </Assertion>

      <Assertion>
        <!-- Canonicalized, correrctly signed assertion -->
      </Assertion>
    </Response>

Fix this by removing all unverified child elements of the Response,
not just the original assertion.

server/server.go: make successful garbage collection log at info level

storage/static.go: correct the error message that gets displayed.

Documentation: document dex scopes, claims, and client features

server: use client connected to remove server for gRPC tests

storage: add connector object to backend storage.

cmd/example-app: fix custom CA behavior

Fix assertion fallback

examples/grpc-client: clean up the example and add tlsClientCA to ConfigMap.

connector: Connectors without a RefreshConnector should not error out

connector: Connectors without a RefreshConnector should not return a refresh token instead of erroring

*: validate InResponseTo SAML response field and make issuer optional

glide.yaml: update goxmldsig