feat: implement upgrade_listener and add Noise Pipes (IK handshake) support

[sujalsalekar]

What was changed?

This PR introduces two major improvements to the py-libp2p codebase:

1. TransportUpgrader.upgrade_listener Implementation

• The upgrade_listener method is now fully implemented.
• It wraps the base transport listener’s handler so that all incoming connections are automatically upgraded: first secured, then multiplexed, before being passed to the application handler.
• This ensures that all inbound connections are handled consistently and securely, matching the behavior of outbound connections.

2. Noise Pipes (IK Handshake) and Static Key Cache Support

• Added support for Noise Pipes, enabling the use of the IK handshake pattern when a remote peer’s static Noise key is known.
• Introduced a static key cache in the Noise transport to store remote peers’ static keys after a successful XX handshake.
• The transport will now use the XX handshake if no static key is cached for a peer, and switch to IK for subsequent connections.
• Added a new PatternIK class for the IK handshake, and updated both handshake patterns to expose the remote static key for caching.

Why is this needed?

• Upgrade Listener: Ensures all inbound connections are properly secured and multiplexed, improving security and consistency.
• Noise Pipes: Improves connection performance and security by enabling the more efficient IK handshake when possible, and aligns with the libp2p spec for Noise Pipes.