Allow object in service endpoint

[jakubkoci]

According to did-core spec "The value of the serviceEndpoint property MUST be a string, a map, or a set composed of one or more strings and/or maps." This allows to use did dht with DIDComm protocol.

It still doesn't not handle "a set composed of more maps". I'm happy to add that to, but I wasn't sure about the approach. I see that txt data has this from:

id=dwn;t=DecentralizedWebNode;se=https://example.com/dwn,https://example.com/dwn2

but it felt a bit weird to add the stringified object to that

id=dwn;t=DecentralizedWebNode;se='{"uri":"https://example.com/dwn","routingKeys":["did:example:somemediator#somekey"]}'

so I encoded the object as base64Url:

id=dwn;t=DecentralizedWebNode;se=eyJ1cmkiOiJodHRwczovL2V4YW1wbGUuY29tL2R3biIsInJvdXRpbmdLZXlzIjpbImRpZDpleGFtcGxlOnNvbWVtZWRpYXRvciNzb21la2V5Il19

Now, I don't know if the goal isn't to make the whole thing human readable, in that case it's not a good solution. On the other hand, if it's fine to use encoded values, it's a question if to encode the string also in the case it's a string or array of string separated by commas.

Happy to hear any thoughts or feedback on this.

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