Bugfix stream-mask override, support old CUDA, and start Hopper support

Use a different callback to intercept the TMD/QMD later in the
launch pipeline.

Major improvements:
- Fix bug with next mask not overriding stream mask on CUDA 11.0+
- Add CUDA 6.5-10.2 support for next- and global-granularity
  partitioning masks on x86_64 and aarch64 Jetson
- Remove libdl dependency
- Partially support TMD/QMD Version 4 (Hopper)

Minor improvements:
- Check for sufficient CUDA version before before attempting to
  apply a next-granularity partitioning mask
- Only check for sufficient CUDA version on the first call to
  `libsmctrl_set_next_mask()` or `libsmctrl_set_global_mask()`,
  rather than checking every time (lowers overheads)
- Check that TMD version is sufficient before modifying it
- Improve documentation

Issues:
- Partitioning mask bits have a different meaning in TMD/QMD
  Version 4 and require floorsweeping and remapping information to
  properly construct. This information will be forthcoming in
  future releases of libsmctrl and nvdebug.

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