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refactor(request-response): don't use upgrade infrastructure
This patch refactors `libp2p-request-response` to not use the "upgrade infrastructure" provided by `libp2p-swarm`. Instead, we directly convert the negotiated streams into futures that read and write the messages. Related: libp2p#3268. Related: libp2p#2863. Pull-Request: libp2p#3914. Co-authored-by: Yiannis Marangos <[email protected]>
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