A response to the amqp query caused a segfault in libc

- Refactored parts of the code to be more readable and DRY
- Split up functions for 3/4/5 arguments passed
- Tested in 8.5.2

#### Pre-Submission Checklist
- [x] Commit message has the format required by CONTRIBUTING guide
- [x] Commits are split per component (core, individual modules, libs, utils, 
...)
- [x] Each component has a single commit (if not, squash them into one commit)
- [x] No commits to README files for modules (changes must be done to docbook 
files
in `doc/` subfolder, the README file is autogenerated)

#### Type Of Change
- [x] Small bug fix (non-breaking change which fixes an issue)
- [ ] New feature (non-breaking change which adds new functionality)
- [ ] Breaking change (fix or feature that would change existing functionality)

#### Checklist:
<!-- Go over all points below, and after creating the PR, tick the 
checkboxes that apply -->
- [x] PR should be backported to stable branches
- [x] Tested changes locally
- [ ] Related to issue #XXXX (replace XXXX with an open issue number)

#### Description
The current state of the module was not usable anymore as everything up from 
5.5.x caused a segfault when the kazoo_query method was executed. Refactored 
the module a bit to make sure it is works again 5.8.x

You can view, comment on, or merge this pull request online at:

  https://github.com/kamailio/kamailio/pull/4002

-- Commit Summary --

  * Fixed segfault when using kazoo_query in kazoo mod

-- File Changes --

    M src/modules/kazoo/kazoo.c (10)
    M src/modules/kazoo/kz_amqp.c (67)
    M src/modules/kazoo/kz_amqp.h (9)

-- Patch Links --

https://github.com/kamailio/kamailio/pull/4002.patch
https://github.com/kamailio/kamailio/pull/4002.diff

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