Make t_iprop.py faster and more robust

Catch SIGUSR1 in iprop-mode kpropd so that we can use it to interrupt
sleeps and make kpropd do an iprop request immediately.

In k5test.py, add prod_kpropd and read_from_kpropd methods to allow
test scripts to send a SIGUSR1 to kpropd and to read its stdout/stderr
output; also allow the test script to specify additional arguments
when starting kpropd.

In t_iprop.py, start kpropd with -d and, instead of sleeping, read
kpropd output until we see an indication that kpropd is in sync with
the master.  To avoid delays, prod kpropd before waiting for sync and
after a completed full prop.

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