Add ZeroMQ topics implementation

- Support ZeroMQ topics.
- Support ZeroMQ authentication.

Demo sending JSON to ZeroMQ topic:

```
import sys
import time

port = "5556"
if len(sys.argv) > 1:
port = sys.argv[1]
int(port)

context = zmq.Context()
socket = context.socket(zmq.PUB)
socket.bind("tcp://*:%s" % port)

import json

while True:
topic = "pac"
messagedata = json.dumps({"hello": "world"})
print ("%s %s" % (topic, messagedata))
socket.send_string("%s %s" % (topic, messagedata))
time.sleep(1)
```