Refactor frame reading

[pbricout]

This PR is mostly to simplify and refactor the FrameReader class.

• simpler implementation
• clearer and simpler interface
• less error prone interface (named parameters, typed encoding)
• new implementation is not completely equivalent to the old one, differences are
  • does not try to be robust to error in frames and throws instead
  • does not return undefined when no data and throws instead
• update frames read()
• fix tests to match the new behaviour

Each commit message has more detail.

Probably best to review with Hide white space changes.

[pbricout]

Thanks for the review and the merge.