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Add command to list channels hermes knows about and user is allowed to access

Fix crash on non utf-8 characters

[ERROR]  Crash
Traceback (most recent call last):
  File "/home/hermes/hermes/hermes/hermes.py", line 435, in run_hermes
    hermes.start()
  File "/usr/local/lib/python3.5/dist-packages/irc/bot.py", line 340, in start
    super(SingleServerIRCBot, self).start()
  File "/usr/local/lib/python3.5/dist-packages/irc/client.py", line 1198, in start
    self.reactor.process_forever()
  File "/usr/local/lib/python3.5/dist-packages/irc/client.py", line 851, in process_forever
    consume(infinite_call(one))
  File "/usr/local/lib/python3.5/dist-packages/more_itertools/recipes.py", line 160, in consume
    deque(iterator, maxlen=0)
  File "/usr/local/lib/python3.5/dist-packages/jaraco/itertools.py", line 413, in <genexpr>
    return (f() for _ in itertools.repeat(None))
  File "/usr/local/lib/python3.5/dist-packages/irc/client.py", line 832, in process_once
    self.process_data(in_)
  File "/usr/local/lib/python3.5/dist-packages/irc/client.py", line 796, in process_data
    conn.process_data()
  File "/usr/local/lib/python3.5/dist-packages/irc/client.py", line 276, in process_data
    for line in self.buffer:
  File "/usr/local/lib/python3.5/dist-packages/jaraco/stream/buffer.py", line 105, in lines
    self.handle_exception()
  File "/usr/local/lib/python3.5/dist-packages/jaraco/stream/buffer.py", line 103, in lines
    yield line.decode(self.encoding, self.errors)
UnicodeDecodeError: 'utf-8' codec can't decode byte 0xa3 in position 71: invalid start byte

Send error message when private messaged an invalid command

Right now hermes will say nothing which can be confusing. A message like "Command not recognized. Type help to see list of commands." would be a lot better.

Implement health check on socket connection

Sometimes, if hermes gets too flooded with messages at once, the socket connection will die. We need to ensure the healthiness of the socket, and if it's not healthy, restart it.