This CL introduces new function ListenMulticastUDP to fix
multicast UDP listening across multiple listeners issue,
to replace old multicast methods JoinGroup and LeaveGroup
on UDPConn.

This CL also enables multicast testing by default.

Fixes #2730.

R=rsc, paul.a.lalonde, fullung, devon.odell
CC=golang-dev
https://golang.org/cl/5562048