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swarm: Remove ConnectionHandler::Error #3591

@thomaseizinger

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@thomaseizinger

Based on #3353 (comment), I am opening this issue to track the work around removing ConnectionHandlerEvent::Close. Closing a connection is the only usage of ConnectionHandler::Error but we've agree that ConnectionHandlers themselves should not be allowed to close connections because they don't fully own them and might disrupt other protocols.

- [x] https://github.com/libp2p/rust-libp2p/pull/3625
- [x] https://github.com/libp2p/rust-libp2p/pull/3913
- [x] https://github.com/libp2p/rust-libp2p/pull/3947
- [ ] https://github.com/libp2p/rust-libp2p/pull/4714
- [ ] https://github.com/libp2p/rust-libp2p/pull/4715
- [ ] https://github.com/libp2p/rust-libp2p/pull/4718
- [ ] https://github.com/libp2p/rust-libp2p/pull/4745
- [ ] https://github.com/libp2p/rust-libp2p/pull/4749
- [ ] https://github.com/libp2p/rust-libp2p/pull/4755

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