Add basic test for Cisco DTLS1_BAD_VER and record replay handling

(Modified for 1.0.2 by adding selected PACKET_xx() functions and PRF, and
subsequent cleanup from commit eb633d03)

Reviewed-by: Rich Salz <rsalz@openssl.org>
Reviewed-by: Matt Caswell <matt@openssl.org>
(cherry picked from commit 40425899200a3dea9ec3684d3eb80bcf50c99baf)