protocols/relay: Implement circuit relay specification (#1838)

This commit implements the [libp2p circuit
relay](https://github.com/libp2p/specs/tree/master/relay) specification. It is
based on previous work from https://github.com/libp2p/rust-libp2p/pull/1134.

Instead of altering the `Transport` trait, the approach taken in this commit
is to wrap an existing implementation of `Transport` allowing one to:

- Intercept `dial` requests with a relayed address.

- Inject incoming relayed connections with the local node being the destination.

- Intercept `listen_on` requests pointing to a relay, ensuring to keep a
  constant connection to the relay, waiting for incoming requests with the local
  node being the destination.

More concretely one would wrap an existing `Transport` implementation as seen
below, allowing the `Relay` behaviour and the `RelayTransport` to communicate
via channels.

### Example

```rust
let (relay_transport, relay_behaviour) = new_transport_and_behaviour(
    RelayConfig::default(),
    MemoryTransport::default(),
);

let transport = relay_transport
    .upgrade(upgrade::Version::V1)
    .authenticate(plaintext)
    .multiplex(YamuxConfig::default())
    .boxed();

let mut swarm = Swarm::new(transport, relay_behaviour, local_peer_id);

let relay_addr = Multiaddr::from_str("/memory/1234").unwrap()
    .with(Protocol::P2p(PeerId::random().into()))
    .with(Protocol::P2pCircuit);
let dst_addr = relay_addr.clone().with(Protocol::Memory(5678));

// Listen for incoming connections via relay node (1234).
Swarm::listen_on(&mut swarm, relay_addr).unwrap();

// Dial node (5678) via relay node (1234).
Swarm::dial_addr(&mut swarm, dst_addr).unwrap();
```

Co-authored-by: Pierre Krieger <pierre.krieger1708@gmail.com>
Co-authored-by: Roman Borschel <romanb@users.noreply.github.com>
Co-authored-by: David Craven <david@craven.ch>

src/lib.rs

@@ -241,6 +241,10 @@ pub use libp2p_yamux as yamux;
 #[cfg_attr(docsrs, doc(cfg(feature = "pnet")))]
 #[doc(inline)]
 pub use libp2p_pnet as pnet;
+#[cfg(feature = "relay")]
+#[cfg_attr(docsrs, doc(cfg(feature = "relay")))]
+#[doc(inline)]
+pub use libp2p_relay as relay;
 #[cfg(feature = "request-response")]
 #[cfg_attr(docsrs, doc(cfg(feature = "request-response")))]
 #[doc(inline)]