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Add a RBAC TCP filter #3993

@yangminzhu

Description

@yangminzhu

Title: Add a RBAC TCP filter

Description:
Add a RBAC (Role-Based-Access-Control) TCP filter. This is needed to support authorization for non-HTTP protocol.

Relevant Links:
The RBAC HTTP filter is added in #3455

some open questions:
We could either add a new config proto for the TCP filter that includes fields only available in TCP or just reuse the existing config proto introduced for HTTP filter, and only a subset of the fields are supported in this case.
I prefer the second option but not sure if there is any preference in Envoy when a filter is implemented for both HTTP and TCP.

/cc @liminw @lizan @rodaine @mattklein123

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