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Proposed DHTv2 Changes

test: fix TestFindPeerQuery and TestFindPeerQueryMinimal to not try and refresh routing tables for orphaned nodes

We no longer need this now that we explicitly support v1 compatibility mode.

When this option is passed, the DHT node will listen on and query _only_ using
the old DHT protocol. Importantly, the node won't even pretend to be a new DHT
node because it's routing table includes V1 peers.

The querying node _is_ allowed to reset and go away.

fixes https://github.com/libp2p/go-libp2p-kad-dht/issues/431

* Remove deprecated events.
* Fix warning -> warn.
* Use structured logging (some places).

Except deprecated warn calls

* record valuable peers algorithm only takes into account latency of seed peers

* fix Low Peers and Cleanup

* new RT management policy

Previously, we'd only return the target peer if we were connected to them.
However, this makes it difficult to impossible to find peers that are mostly
disconnected from the network.

This change also changes `p` to `from` in several places as `p` is _very_
confusing. We should probably switch away from using `p` everywhere.

* Add Kademlia async lookup implementation (replaces prior implementation)
* Add lookup events that allow full lookup reconstruction from logs
* Introduce lookup stopping condition, based on parameter "beta"
Co-authored-by: Adin Schmahmann <adin.schmahmann@gmail.com>

This should stop us from waiting on unresponsive peers. This only kicks in when
we've already _sent_ a request so this:

* Shouldn't be blocked on other requests we're planning on making.
* Shouldn't be blocked on dialing.

Allows specifying peer filter functions on query and on adding peers to the routing table. This patch also includes some reasonable default functions for a public-only and private-only DHT.
Co-authored-by: Will Scott <will@cypherpunk.email>
Co-authored-by: Steven Allen <steven@stebalien.com>

fix(test): TestFindPeerQuery and TestFindPeerQueryMinimal now refresh DHT routing tables before running. TestFindPeerQuery no longer runs with the race detector because it uses too many goroutines.

* remove disjoint queries
* remove globally queried check
* removed dht rng field and mutex
* removed the Disjoint option
Co-authored-by: Adin Schmahmann <adin.schmahmann@gmail.com>

* feat(query): fully async implementation of Kademlia lookup. peers returned from the lookup are not guaranteed to be alive (i.e. we're only guaranteed to have dialed the closest beta peers to the target), but given stable and correct routing tables the expectation that most of the peers returned are alive is high.
* feat(query): add wrapper lookup followup function to followup after the lookup is completed and ensure that the closest k returned peers from a lookup have been queried even for beta < k
* refactor(query) modified the structure returned from lookups to be a useful subset of the full query state instead of the entire query state
* feat(options): beta parameter exposed as the Resiliency parameter
* feat(routing): do not mark the routing table as updated after a FindPeer query
* feat(routing): FindPeer can return addresses even if not Connected as long as it was either recently connected (CanConnect) or was discovered during the lookup
* feat(bootstrap): bootstrap logic now uses GetClosestPeers instead of FindPeer
* refactor(dht): stopFn no longer takes any state
* fix(test): changed GetClosestPeers test to only assume beta instead of k peers since that is now more appropriate given the query logic changes and that the routing tables in that test are bad, i.e. a ring network with arbitrary peerIDs
Co-authored-by: Petar Maymounkov <petarm@gmail.com>
Co-authored-by: Aarsh Shah <aarshkshah1992@gmail.com>

* kpeerset refactoring
* query code cleanup