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ESP32: Add mDNS module #3672

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A small module to interface with the mDNS support on the IDF. This allows an ESP32 device to become discoverable on the network easily, as well as find other devices/services on the local network.

  • This PR is for the dev-esp32 branch rather than for the release branch.
  • This PR is compliant with the other contributing guidelines as well (if not, please describe why).
  • I have thoroughly tested my contribution.
  • The code changes are reflected in the documentation at docs/*.

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