box: sending arbitrary IPROTO packets

Add translation table for `box.iproto.key` constants encoding to simplify
packet assembly.

Add new `box.iproto.send` method to Lua and `box_iproto_send` function to C
API, which allow sending arbitrary IPROTO packets, using active IPROTO
sessions. Packets are sent asynchronously using Kharon.

Add `xregion_join` to the `xalloc` API.

Change gh-7894 test: instead of simply comparing `box.iproto` table to the
reference table, iterate over `box.iproto` and check that corresponding
non-{function, thread, userdata} type values exist in the reference table.

Closes #7897

@TarantoolBot document
Title: Document sending arbitrary IPROTO packets feature
For the API description and usage examples, see:
* [design document](https://www.notion.so/tarantool/box-iproto-override-44935a6ac7e04fb5a2c81ca713ed1bce#a2cc04da89d34fad8f8564c150cd9977);
* tarantool/tarantool#7897.