refactor: move message handling internals to use `async`/`await`

[arthurschreiber]

This introduces some initial refactoring around MessageIO/IncomingMessageStream/OutgoingMessageStream.

Namely, the goal is to completely remove IncomingMessageStream/OutgoingMessageStream/Message and replace them with two straightforward functions instead:

• MessageIO.readMessage to read the contents of a message as a stream using an AsyncIterable<Buffer> from a Readable stream.
• MessageIO.writeMessage to write a stream of buffers (generated synchronously via a Iterable<Buffer> or asynchronously via a AsyncIterable<Buffer>) to a Writable stream.

Both these new methods are much simpler compared to the previous IncomingMessageStream/OutgoingMessageStream implementation, both from a logical complexity as well as an implementation complexity point.

They're also both significantly faster than the current implementations. I added benchmarks that try to compare either implementation (benchmarks run using Node.js v18.20.4):

@arthurschreiber ➜ /workspace/benchmarks (arthur/async-await) $ node message-io/incoming-message-stream.js 
message-io/incoming-message-stream.js n=100: 2,913.7299061537133 (minor: 0 - 0ms, major: 0 - 0ms, incremental: 0 - 0ms)
message-io/incoming-message-stream.js n=1000: 11,430.989311430583 (minor: 0 - 0ms, major: 0 - 0ms, incremental: 0 - 0ms)
message-io/incoming-message-stream.js n=10000: 32,195.67874171715 (minor: 0 - 0ms, major: 0 - 0ms, incremental: 0 - 0ms)
message-io/incoming-message-stream.js n=100000: 101,359.99006469377 (minor: 0 - 0ms, major: 0 - 0ms, incremental: 0 - 0ms)

@arthurschreiber ➜ /workspace/benchmarks (arthur/async-await) $ node message-io/read-message.js 
message-io/read-message.js n=100: 15,410.443287565346 (minor: 0 - 0ms, major: 0 - 0ms, incremental: 0 - 0ms)
message-io/read-message.js n=1000: 22,116.38940123348 (minor: 0 - 0ms, major: 0 - 0ms, incremental: 0 - 0ms)
message-io/read-message.js n=10000: 70,465.68105003222 (minor: 0 - 0ms, major: 0 - 0ms, incremental: 0 - 0ms)
message-io/read-message.js n=100000: 206,620.15053389582 (minor: 0 - 0ms, major: 0 - 0ms, incremental: 0 - 0ms)

@arthurschreiber ➜ /workspace/benchmarks (arthur/async-await) $ node message-io/outgoing-message-stream.js 
message-io/outgoing-message-stream.js n=100: 5,938.379808083441 (minor: 0 - 0ms, major: 0 - 0ms, incremental: 0 - 0ms)
message-io/outgoing-message-stream.js n=1000: 9,312.915449158187 (minor: 0 - 0ms, major: 0 - 0ms, incremental: 0 - 0ms)
message-io/outgoing-message-stream.js n=10000: 37,337.954398051086 (minor: 0 - 0ms, major: 0 - 0ms, incremental: 0 - 0ms)
message-io/outgoing-message-stream.js n=100000: 80,630.96081259915 (minor: 0 - 0ms, major: 0 - 0ms, incremental: 0 - 0ms)

@arthurschreiber ➜ /workspace/benchmarks (arthur/async-await) $ node message-io/write-message.js 
message-io/write-message.js n=100: 18,303.00403544633 (minor: 0 - 0ms, major: 0 - 0ms, incremental: 0 - 0ms)
message-io/write-message.js n=1000: 15,285.594130026144 (minor: 0 - 0ms, major: 0 - 0ms, incremental: 0 - 0ms)
message-io/write-message.js n=10000: 67,938.25567509481 (minor: 0 - 0ms, major: 0 - 0ms, incremental: 0 - 0ms)
message-io/write-message.js n=100000: 127,125.10735604081 (minor: 0 - 0ms, major: 0 - 0ms, incremental: 0 - 0ms)

The current implementation spends a lot of time setting up new stream objects for each incoming and outgoing message (via the Message class that inherits from PassThrough transform stream), and that causes quite a dent in performance, especially when v8 optimizations haven't kicked in yet.

[codecov[bot]]

Codecov Report

Attention: Patch coverage is 91.20370% with 19 lines in your changes missing coverage. Please review.

Project coverage is 79.53%. Comparing base (fc2aa28) to head (39cbe28).

Files with missing lines	Patch %	Lines
src/message-io.ts	90.83%	3 Missing and 9 partials :warning:
src/connection.ts	90.27%	4 Missing and 3 partials :warning:

Additional details and impacted files

```diff @@ Coverage Diff @@ ## master #1656 +/- ## ========================================== + Coverage 78.97% 79.53% +0.56% ========================================== Files 90 90 Lines 4855 5009 +154 Branches 929 947 +18 ========================================== + Hits 3834 3984 +150 + Misses 718 712 -6 - Partials 303 313 +10 ```

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[arthurschreiber]

@MichaelSun90 @mShan0 Mind taking a look? I only moved the PRELOGIN payload and parsing to use the new methods so far. I think this is probably large enough to warrant merging this before moving more things over - I don't think this will be reviewable if we move more things over inside of this PR.