fix: add rpc error metrics

[twoeths]

Motivation

• There are rpc errors that's not tracked in metrics and it caused missed messages from other peers
• See https://github.com/ChainSafe/js-libp2p-gossipsub/issues/411#issue-1610585138

Description

• Add more logs for rpc message
• Add metrics when handling errors

part of #411

It shows that we really have rpc errors when deploying this branch to a lodestar node

[what-the-diff[bot]]

• Add error handling for peer read stream
• Add error handling for rpc data and recv errors
• Logging improvements to include more information about the RPC message received from a peer (subscriptions, messages, ihave/iwant/graft/prune)

[codecov-commenter]

Codecov Report

Patch coverage: 32.25% and project coverage change: -0.27 :warning:

Comparison is base (1e1cf5a) 83.31% compared to head (219d2a1) 83.04%.

Additional details and impacted files

```diff @@ Coverage Diff @@ ## master #412 +/- ## ========================================== - Coverage 83.31% 83.04% -0.27% ========================================== Files 48 48 Lines 11800 11858 +58 Branches 1271 1279 +8 ========================================== + Hits 9831 9848 +17 - Misses 1969 2010 +41 ``` | [Impacted Files](https://codecov.io/gh/ChainSafe/js-libp2p-gossipsub/pull/412?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ChainSafe) | Coverage Δ | | |---|---|---| | [src/metrics.ts](https://codecov.io/gh/ChainSafe/js-libp2p-gossipsub/pull/412?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ChainSafe#diff-c3JjL21ldHJpY3MudHM=) | `20.39% <0.00%> (-0.87%)` | :arrow_down: | | [src/index.ts](https://codecov.io/gh/ChainSafe/js-libp2p-gossipsub/pull/412?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ChainSafe#diff-c3JjL2luZGV4LnRz) | `70.39% <64.51%> (-0.07%)` | :arrow_down: | Help us with your feedback. Take ten seconds to tell us [how you rate us](https://about.codecov.io/nps?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ChainSafe). Have a feature suggestion? [Share it here.](https://app.codecov.io/gh/feedback/?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ChainSafe)

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