v2.4.0

#72 Add extra event to checks in open method
#74 Filter incoming websocket art messages
#76 More fixes for event check in art upload
#77 Add logging to send_command
#78 Add support for encrypted (v1) API
#79 Split out authenticator tests and use fixtures
#80 Adjust documentation and add examples
#81 Adjust logging for "ms.error" event