Refactor format validation

[justin-tay]

Closes #957, closes #848

This shouldn't contain any breaking changes, instead some methods are deprecated with some workarounds to cater to the old behavior.

This refactors the format validation to do the following

• Allow custom formats to apply to non-string values
• Refactor the logic such that all the validation logic exists in the format implementations. ie. ipv6 and date-time logic now all reside in a format implementation.
• Implement handling for unknown format. When the assertion vocab is used, unknown formats trigger an assertion. Otherwise need to set strict format to trigger an assertion.
• Refactor to use localised messages. Previously it used hardcoded english strings as the error description.

Custom Format https://json-schema.org/draft/2020-12/json-schema-validation#name-foreword

All format attributes defined in this section apply to strings, 
but a format attribute can be specified to apply to any instance types defined in the data 
model defined in the [core JSON Schema.]

Unknown Format https://json-schema.org/draft/2020-12/json-schema-validation#name-custom-format-attributes

When the Format-Assertion vocabulary is specified, implementations MUST fail upon encountering unknown formats.

Note that having the vocab is different from enabling assertions as an option.

[codecov-commenter]

Codecov Report

Attention: 21 lines in your changes are missing coverage. Please review.

Comparison is base (32356e9) 79.01% compared to head (e2ac373) 78.79%.

Files	Patch %	Lines
...ain/java/com/networknt/schema/FormatValidator.java	69.23%	5 Missing and 3 partials :warning:
...main/java/com/networknt/schema/JsonMetaSchema.java	68.42%	5 Missing and 1 partial :warning:
...va/com/networknt/schema/format/DateTimeFormat.java	85.71%	1 Missing and 1 partial :warning:
...ava/com/networknt/schema/format/PatternFormat.java	84.61%	0 Missing and 2 partials :warning:
src/main/java/com/networknt/schema/Format.java	93.33%	1 Missing :warning:
...va/com/networknt/schema/format/DurationFormat.java	85.71%	0 Missing and 1 partial :warning:
...com/networknt/schema/format/IdnHostnameFormat.java	80.00%	0 Missing and 1 partial :warning:

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Additional details and impacted files

```diff @@ Coverage Diff @@ ## master #958 +/- ## ============================================ - Coverage 79.01% 78.79% -0.23% - Complexity 1726 1767 +41 ============================================ Files 158 160 +2 Lines 5753 5797 +44 Branches 1087 1080 -7 ============================================ + Hits 4546 4568 +22 - Misses 809 825 +16 - Partials 398 404 +6 ```

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