xfrm: support sending NAT keepalives in ESP in UDP states

Add the ability to send out RFC-3948 NAT keepalives from the xfrm stack.

To use, Userspace sets an XFRM_NAT_KEEPALIVE_INTERVAL integer property when
creating XFRM outbound states which denotes the number of seconds between
keepalive messages.

Keepalive messages are sent from a per net delayed work which iterates over
the xfrm states. The logic is guarded by the xfrm state spinlock due to the
xfrm state walk iterator.

Possible future enhancements:

- Adding counters to keep track of sent keepalives.
- deduplicate NAT keepalives between states sharing the same nat keepalive
  parameters.
- provisioning hardware offloads for devices capable of implementing this.
- revise xfrm state list to use an rcu list in order to avoid running this
  under spinlock.

Suggested-by: Paul Wouters <paul.wouters@aiven.io>
Tested-by: Paul Wouters <paul.wouters@aiven.io>
Tested-by: Antony Antony <antony.antony@secunet.com>
Signed-off-by: Eyal Birger <eyal.birger@gmail.com>
Signed-off-by: Steffen Klassert <steffen.klassert@secunet.com>