Aaron Lehmann 0248b4df54 Topology-aware scheduling
This adds support for placement preferences in Swarm services.

- Convert PlacementPreferences between GRPC API and HTTP API
- Add --placement-pref, --placement-pref-add and --placement-pref-rm to CLI
- Add support for placement preferences in service inspect --pretty
- Add integration test

Signed-off-by: Aaron Lehmann <aaron.lehmann@docker.com>
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