Make LDS security config optional, add nosec_anon test

ServerLDS and ServerRegister can now run without encryption when
certificate, privateKey, and trustStore are all omitted from the
server config file.  When any of the three is present, all three are
still required.  The unsecured server uses UA_ServerConfig_setMinimal
with SecurityPolicy#None only.

Add nosec_anon integration test covering the LDS unsecured path.

Update readme: use symlinks instead of copies for trust stores, note
that ServerLDS and ServerRegister support running without certs.

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