Relax handshake negotiation

When negotiating versions we should ignore versions for which version data
cannot be decoded. We do that only in [`codecHandshake`] which decodes bytes
to `cborg` `Term`, but not in [`acceptOrRefuse`] which decodes the `Term`
to a Haskell data type.

The PR should also enhance our test suite to send a mixture of:
* valid version data
* invalid CBOR bytestring of version data
* valid CBOR bytestring, but invalid CBOR encoding of version data

One can easily test this by breaking encoding of one of the version data in
`cardano-ping` library (that's how the issue was discovered).

[`codecHandshake`]: https://input-output-hk.github.io/ouroboros-network/ouroboros-network-framework/Ouroboros-Network-Protocol-Handshake-Codec.html#v:codecHandshake
[`acceptOrRefuse`]: https://input-output-hk.github.io/ouroboros-network/ouroboros-network-framework/Ouroboros-Network-Protocol-Handshake-Client.html#v:acceptOrRefuse