Closes https://github.com/tendermint/tendermint/issues/3857

Moves `lib/` folder to `jsonrpc/`.

Renames:

**packages**

`rpc` package -> `jsonrpc` package
`rpcclient` package -> `client` package
`rpcserver` package -> `server` package

**structs and interfaces**

```
JSONRPCClient to Client
JSONRPCRequestBatch to RequestBatch
JSONRPCCaller to Caller
```

**functions**

```
StartHTTPServer to Serve
StartHTTPAndTLSServer to ServeTLS

rpc/jsonrpc/client: rename NewURIClient to NewURI

NewJSONRPCClient to New
NewJSONRPCClientWithHTTPClient to NewWithHTTPClient
NewWSClient to NewWS
```

**misc**

- unexpose `ResponseWriterWrapper`
- remove unused http_params.go