derp: support client->server ping (and server->client pong)

In prep for a future change to have client ping derp connections
when their state is questionable, rather than aggressively tearing
them down and doing a heavy reconnect when their state is unknown.

We already support ping/pong in the other direction (servers probing
clients) so we already had the two frame types, but I'd never finished
this direction.

Updates #3619

Change-Id: I024b815d9db1bc57c20f82f80f95fb55fc9e2fcc
Signed-off-by: Brad Fitzpatrick <bradfitz@tailscale.com>
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