pjproject: Upgrade bundled version to pjproject 2.10

This patch makes the usual necessary changes when upgrading to a new
version pjproject. For instance, version number bump, patches removed
from third-party, new *.md5 file added, etc..

This patch also includes a change to the Asterisk pjproject Makefile to
explicitly create the 'source/pjsip-apps/lib' directory. This directory
is no longer there by default so needs to be added so the Asterisk
malloc debug can be built.

This patch also includes some minor changes to Asterisk that were a result
of the upgrade. Specifically, there was a backward incompatibility change
made in 2.10 that modified the "expires header" variable field from a
signed to an unsigned value. This potentially effects comparison. Namely,
those check for a value less than zero. This patch modified a few locations
in the Asterisk code that may have been affected.

Lastly, this patch adds a new macro PJSIP_MINVERSION that can be used to
check a minimum version of pjproject at compile time.

ASTERISK-28899 #close

Change-Id: Iec8821c6cbbc08c369d0e3cd2f14e691b41d0c81