pkey: refactor PEM/DER serialization code #328
                
     Merged
            
            
          
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This is split from #119. This Pull Request mainly aims to reduce code duplication.
PKCS #8 formats support has been already merged by #297. I will create another Pull Request for generic pkey operations, including #generate_{key,params}, #derive, and one-shot #sign/#verify.
This probably should be merged after the v2.2.0 release.