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Add discovery model

Franck Bret requested to merge franckbret/swh-model:discovery into master

It adds primitives for finding the unknown parts of disk contents efficiently.

It provides ArchiveDiscoveryInterface, BaseDiscoveryGraph and RandomDirSamplingDiscoveryGraph classes for discovery algorithms.

This is a follow up of comments made in swh-scanner!64 (closed) about splitting some code to common module

Related swh-scanner!64 (closed) Related swh-scanner#4591

Also related to !269 (comment 128820)

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