Update to tokio 1.1 (#2172)

## Issue Addressed

resolves #2129
resolves #2099 
addresses some of #1712
unblocks #2076
unblocks #2153 

## Proposed Changes

- Updates all the dependencies mentioned in #2129, except for web3. They haven't merged their tokio 1.0 update because they are waiting on some dependencies of their own. Since we only use web3 in tests, I think updating it in a separate issue is fine. If they are able to merge soon though, I can update in this PR. 

- Updates `tokio_util` to 0.6.2 and `bytes` to 1.0.1.

- We haven't made a discv5 release since merging tokio 1.0 updates so I'm using a commit rather than release atm. **Edit:** I think we should merge an update of `tokio_util` to 0.6.2 into discv5 before this release because it has panic fixes in `DelayQueue`  --> PR in discv5:  https://github.com/sigp/discv5/pull/58

## Additional Info

tokio 1.0 changes that required some changes in lighthouse:

- `interval.next().await.is_some()` -> `interval.tick().await`
- `sleep` future is now `!Unpin` -> https://github.com/tokio-rs/tokio/issues/3028
- `try_recv` has been temporarily removed from `mpsc` -> https://github.com/tokio-rs/tokio/issues/3350
- stream features have moved to `tokio-stream` and `broadcast::Receiver::into_stream()` has been temporarily removed -> `https://github.com/tokio-rs/tokio/issues/2870
- I've copied over the `BroadcastStream` wrapper from this PR, but can update to use `tokio-stream` once it's merged https://github.com/tokio-rs/tokio/pull/3384

Co-authored-by: realbigsean <seananderson33@gmail.com>

common/eth2/src/types.rs

@@ -682,6 +682,16 @@ pub enum EventKind<T: EthSpec> {
 }
 
 impl<T: EthSpec> EventKind<T> {
+    pub fn topic_name(&self) -> &str {
+        match self {
+            EventKind::Head(_) => "head",
+            EventKind::Block(_) => "block",
+            EventKind::Attestation(_) => "attestation",
+            EventKind::VoluntaryExit(_) => "voluntary_exit",
+            EventKind::FinalizedCheckpoint(_) => "finalized_checkpoint",
+        }
+    }
+
     pub fn from_sse_bytes(message: &[u8]) -> Result<Self, ServerError> {
         let s = from_utf8(message)
             .map_err(|e| ServerError::InvalidServerSentEvent(format!("{:?}", e)))?;