[infra if] add infra if icmp6 nd receiving #2547
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This PR implements Icmp6Nd receiving in the InfraIf module.
The method is used to receive ICMPv6 ND messages (on host) and forward them to the NCP. The implementation of this method is the same as OT posix implementation. In this PR, the forwarding to NCP hasn't been implemented. It will be later integrated with NcpSpinel.
This PR also adds a test case to verify that
HandleIcmp6Nd
is called correctly when the infrastructure interface receives an ICMP6 ND message.