selftests: drv-net: add a TCP ping test case (and useful helpers)

More complex tests often have to spawn a background process,
like a server which will respond to requests or tcpdump.

Add support for creating such processes using the with keyword:

  with bkg("my-daemon", ..):
     # my-daemon is alive in this block

My initial thought was to add this support to cmd() directly
but it runs the command in the constructor, so by the time
we __enter__ it's too late to make sure we used "background=True".

Second useful helper transplanted from net_helper.sh is
wait_port_listen().

The test itself uses socat, which insists on v6 addresses
being wrapped in [], it's not the only command which requires
this format, so add the wrapped address to env. The hope
is to save test code from checking if address is v6.

Reviewed-by: Willem de Bruijn <willemb@google.com>
Link: https://lore.kernel.org/r/20240420025237.3309296-7-kuba@kernel.org
Signed-off-by: Jakub Kicinski <kuba@kernel.org>