fix(discovery): fix hanging if some peers don't respond

Previously the discovery algorithm would try to reach each known peer
sequentially requiring each consequent request to succeed until the next
one can be attempted. This would not work in some cases (see test in
previous commit).

So the new algorithm instead makes a single attempt to reach each peer
within a round, and if some failed they're retried in the next round of
requests. This allows overall discovery to succeed in cases when some
of the initial peers never respond.

Closes #54