cmd/devp2p: add devp2p debug tool (#19657)

* p2p/discover: export Ping and RequestENR

These two are useful for checking the status of a node.

* cmd/devp2p: add devp2p debug tool

This is a new tool for debugging p2p issues. It supports a few
basic tasks for now, but many more things can and will be added
in the near future.

   devp2p enrdump            -- prints ENRs readably
   devp2p discv4 ping        -- checks if a node is up
   devp2p discv4 requestenr  -- gets a node's record
   devp2p discv4 resolve     -- finds a node through the DHT