crypto/tls: implement TLS 1.3 PSK authentication (server side)

crypto/tls: implement TLS 1.3 PSK authentication (server side)

Added some assertions to testHandshake, but avoided checking the error
of one of the Close() because the one that would lose the race would
write the closeNotify to a connection closed on the other side which is
broken on js/wasm (#28650). Moved that Close() after the chan sync to
ensure it happens second.

Accepting a ticket with client certificates when NoClientCert is
configured is probably not a problem, and we could hide them to avoid
confusing the application, but the current behavior is to skip the
ticket, and I'd rather keep behavior changes to a minimum.

Updates #9671

Change-Id: I93b56e44ddfe3d48c2bef52c83285ba2f46f297a
Reviewed-on: https://go-review.googlesource.com/c/147445
Reviewed-by: Adam Langley <agl@golang.org>