This PR enables running the new discv5 protocol in both LES client
and server mode. In client mode it mixes discv5 and dnsdisc iterators
(if both are enabled) and filters incoming ENRs for "les" tag and fork ID.
The old p2p/discv5 package and all references to it are removed.

Co-authored-by: Felix Lange <fjl@twurst.com>

Changes:

    Simplify nested complexity
    If an if blocks ends with a return statement then remove the else nesting.

Most of the changes has also been reported in golint https://goreportcard.com/report/github.com/ethereum/go-ethereum#golint

This PR adds an extra guarantee to NodeStateMachine: it ensures that all
immediate effects of a certain change are processed before any subsequent
effects of any of the immediate effects on the same node. In the original
version, if a cascaded change caused a subscription callback to be called
multiple times for the same node then these calls might have happened in a
wrong chronological order.

For example:

- a subscription to flag0 changes flag1 and flag2
- a subscription to flag1 changes flag3
- a subscription to flag1, flag2 and flag3 was called in the following order:

   [flag1] -> [flag1, flag3]
   [] -> [flag1]
   [flag1, flag3] -> [flag1, flag2, flag3]

This happened because the tree of changes was traversed in a "depth-first
order". Now it is traversed in a "breadth-first order"; each node has a
FIFO queue for pending callbacks and each triggered subscription callback
is added to the end of the list. The already existing guarantees are
retained; no SetState or SetField returns until the callback queue of the
node is empty again. Just like before, it is the responsibility of the
state machine design to ensure that infinite state loops are not possible.
Multiple changes affecting the same node can still happen simultaneously;
in this case the changes can be interleaved in the FIFO of the node but the
correct order is still guaranteed.

A new unit test is also added to verify callback order in the above scenario.

This PR reimplements the light client server pool. It is also a first step
to move certain logic into a new lespay package. This package will contain
the implementation of the lespay token sale functions, the token buying and
selling logic and other components related to peer selection/prioritization
and service quality evaluation. Over the long term this package will be
reusable for incentivizing future protocols.

Since the LES peer logic is now based on enode.Iterator, it can now use
DNS-based fallback discovery to find servers.

This document describes the function of the new components:
https://gist.github.com/zsfelfoldi/3c7ace895234b7b345ab4f71dab102d4

* les: move execqueue into utilities package

execqueue is a util for executing queued functions
in a serial order which is used by both les server
and les client. Move it to common package.

* les: move randselect to utilities package

weighted_random_selector is a helpful tool for randomly select
items maintained in a set but based on the item weight.

It's used anywhere is LES package, mainly by les client but will
be used in les server with very high chance. So move it into a
common package as the second step for les separation.

* les: rename to utils

* les: separate peer into clientPeer and serverPeer

* les: address comments

les: handler separation

* p2p/enr: add entries for for IPv4/IPv6 separation

This adds entry types for "ip6", "udp6", "tcp6" keys. The IP type stays
around because removing it would break a lot of code and force everyone
to care about the distinction.

* p2p/enode: track IPv4 and IPv6 address separately

LocalNode predicts the local node's UDP endpoint and updates the record.
This change makes it predict IPv4 and IPv6 endpoints separately since
they can now be in the record at the same time.

* p2p/enode: implement base64 text format
* all: switch to enode.Parse(...)

This allows passing base64-encoded node records to all the places that
previously accepted enode:// URLs. The URL format is still supported.

* cmd/bootnode, p2p: log node URL instead of ENR

...and return the base64 record in NodeInfo.

This change

- implements concurrent LES request serving even for a single peer.
- replaces the request cost estimation method with a cost table based on
  benchmarks which gives much more consistent results. Until now the
  allowed number of light peers was just a guess which probably contributed
  a lot to the fluctuating quality of available service. Everything related
  to request cost is implemented in a single object, the 'cost tracker'. It
  uses a fixed cost table with a global 'correction factor'. Benchmark code
  is included and can be run at any time to adapt costs to low-level
  implementation changes.
- reimplements flowcontrol.ClientManager in a cleaner and more efficient
  way, with added capabilities: There is now control over bandwidth, which
  allows using the flow control parameters for client prioritization.
  Target utilization over 100 percent is now supported to model concurrent
  request processing. Total serving bandwidth is reduced during block
  processing to prevent database contention.
- implements an RPC API for the LES servers allowing server operators to
  assign priority bandwidth to certain clients and change prioritized
  status even while the client is connected. The new API is meant for
  cases where server operators charge for LES using an off-protocol mechanism.
- adds a unit test for the new client manager.
- adds an end-to-end test using the network simulator that tests bandwidth
  control functions through the new API.

For more information about this light client mode, read
https://hackmd.io/s/HJy7jjZpm

Package p2p/enode provides a generalized representation of p2p nodes
which can contain arbitrary information in key/value pairs. It is also
the new home for the node database. The "v4" identity scheme is also
moved here from p2p/enr to remove the dependency on Ethereum crypto from
that package.

Record signature handling is changed significantly. The identity scheme
registry is removed and acceptable schemes must be passed to any method
that needs identity. This means records must now be validated explicitly
after decoding.

The enode API is designed to make signature handling easy and safe: most
APIs around the codebase work with enode.Node, which is a wrapper around
a valid record. Going from enr.Record to enode.Node requires a valid
signature.

* p2p/discover: port to p2p/enode

This ports the discovery code to the new node representation in
p2p/enode. The wire protocol is unchanged, this can be considered a
refactoring change. The Kademlia table can now deal with nodes using an
arbitrary identity scheme. This requires a few incompatible API changes:

  - Table.Lookup is not available anymore. It used to take a public key
    as argument because v4 protocol requires one. Its replacement is
    LookupRandom.
  - Table.Resolve takes *enode.Node instead of NodeID. This is also for
    v4 protocol compatibility because nodes cannot be looked up by ID
    alone.
  - Types Node and NodeID are gone. Further commits in the series will be
    fixes all over the the codebase to deal with those removals.

* p2p: port to p2p/enode and discovery changes

This adapts package p2p to the changes in p2p/discover. All uses of
discover.Node and discover.NodeID are replaced by their equivalents from
p2p/enode.

New API is added to retrieve the enode.Node instance of a peer. The
behavior of Server.Self with discovery disabled is improved. It now
tries much harder to report a working IP address, falling back to
127.0.0.1 if no suitable address can be determined through other means.
These changes were needed for tests of other packages later in the
series.

* p2p/simulations, p2p/testing: port to p2p/enode

No surprises here, mostly replacements of discover.Node, discover.NodeID
with their new equivalents. The 'interesting' API changes are:

 - testing.ProtocolSession tracks complete nodes, not just their IDs.
 - adapters.NodeConfig has a new method to create a complete node.

These changes were needed to make swarm tests work.

Note that the NodeID change makes the code incompatible with old
simulation snapshots.

* whisper/whisperv5, whisper/whisperv6: port to p2p/enode

This port was easy because whisper uses []byte for node IDs and
URL strings in the API.

* eth: port to p2p/enode

Again, easy to port because eth uses strings for node IDs and doesn't
care about node information in any way.

* les: port to p2p/enode

Apart from replacing discover.NodeID with enode.ID, most changes are in
the server pool code. It now deals with complete nodes instead
of (Pubkey, IP, Port) triples. The database format is unchanged for now,
but we should probably change it to use the node database later.

* node: port to p2p/enode

This change simply replaces discover.Node and discover.NodeID with their
new equivalents.

* swarm/network: port to p2p/enode

Swarm has its own node address representation, BzzAddr, containing both
an overlay address (the hash of a secp256k1 public key) and an underlay
address (enode:// URL).

There are no changes to the BzzAddr format in this commit, but certain
operations such as creating a BzzAddr from a node ID are now impossible
because node IDs aren't public keys anymore.

Most swarm-related changes in the series remove uses of
NewAddrFromNodeID, replacing it with NewAddr which takes a complete node
as argument. ToOverlayAddr is removed because we can just use the node
ID directly.

* les: handle conn/disc/reg logic in the eventloop

* les: try to dial before start eventloop

* les: handle disconnect logic more safely

* les: grammar fix

This commit does various code refactorings:

- generalizes and moves the request retrieval/timeout/resend logic out of LesOdr
  (will be used by a subsequent PR)
- reworks the peer management logic so that all services can register with
  peerSet to get notified about added/dropped peers (also gets rid of the ugly
  getAllPeers callback in requestDistributor)
- moves peerSet, LesOdr, requestDistributor and retrieveManager initialization
  out of ProtocolManager because I believe they do not really belong there and the
  whole init process was ugly and ad-hoc

* les: implement request distributor, fix blocking issues
* core: moved header validation before chain mutex lock

les/flowcontrol: using proper types for relative and absolute times