Use non-detached mode as default for service commands

Commit 330a0035334871d92207b583c1c36d52a244753f added a `--detach=false` option
to various service-related commands, with the intent to make this the default in
a future version (17.09).

This patch changes the default to use "interactive" (non-detached), allowing
users to override this by setting the `--detach` option.

To prevent problems when connecting to older daemon versions (17.05 and below,
see commit db60f25561), the detach option is
ignored for those versions, and detach is always true.

Before this change, a warning was printed to announce the upcoming default:

    $ docker service create nginx:alpine
    saxiyn3pe559d753730zr0xer
    Since --detach=false was not specified, tasks will be created in the background.
    In a future release, --detach=false will become the default.

After this change, no warning is printed, but `--detach` is disabled;

    $ docker service create nginx:alpine
    y9jujwzozi0hwgj5yaadzliq6
    overall progress: 1 out of 1 tasks
    1/1: running   [==================================================>]
    verify: Service converged

Setting the `--detach` flag makes the cli use the pre-17.06 behavior:

    $ docker service create --detach nginx:alpine
    280hjnzy0wzje5o56gr22a46n

Running against a 17.03 daemon, without specifying the `--detach` flag;

    $ docker service create nginx:alpine
    kqheg7ogj0kszoa34g4p73i8q

Signed-off-by: Sebastiaan van Stijn <github@gone.nl>

docs/deprecated.md

@@ -24,7 +24,7 @@ see [Feature Deprecation Policy](https://docs.docker.com/engine/#feature-depreca
 
 **Deprecated In Release: v17.05.0**
 
-**Disabled by default in release: v17.09**
+**Disabled by default in release: [v17.09](https://github.com/docker/docker-ce/releases/tag/v17.09.0-ce)**
 
 Docker 17.05.0 added an optional `--detach=false` option to make the
 `docker service create` and `docker service update` work synchronously. This