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Previously, the `libp2p-ping` module came with a policy to close a connection after X failed pings. This is only one of many possible policies on how users would want to do connection management. We remove this policy without a replacement. If users wish to restore this functionality, they can easily implement such policy themselves: The default value of `max_failures` was 1. To restore the previous functionality users can simply close the connection upon the first received ping error. In this same patch, we also simplify the API of `ping::Event` by removing the layer of `ping::Success` and instead reporting the RTT to the peer directly. Related: #3591. Pull-Request: #3947.