Upgrade Joi (#3505)

core/base-service/base-json.spec.js

core/base-service/base-svg-scraping.spec.js

core/base-service/base-xml.spec.js

core/base-service/base-yaml.spec.js

core/base-service/base.js

core/base-service/base.spec.js

core/base-service/cache-headers.js

core/base-service/categories.js

core/base-service/deprecated-service.js

core/base-service/examples.js

core/base-service/redirector.js

core/base-service/route.js

core/base-service/route.spec.js

core/base-service/service-definitions.js

core/base-service/validate.js

core/base-service/validate.spec.js

core/server/server.js

core/service-test-runner/icedfrisby-shields.js

doc/TUTORIAL.md

doc/rewriting-services.md