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rtp: remove most demux_t dependence

Loïc requested to merge loic/vlc:rtp-session-demux_t-less into master

This PR removes most dependencies on demux_t for the access RTP implementation, only the two main functions (OpenURL and OpenSDP) still have a demux_t dependency as they are the entry point of the RTP access module.

The changes have been successfully tested with a local ffmpeg rtp stream.

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