asio coap: If LWIP IPV6 is disabled, automatically don't build asio & coap

- Removes need to manually exclude these components as shown at
  https://github.com/espressif/esp-idf/issues/3781#issuecomment-825742378

- Hide the config for these components if IPV6 is disabled

- The components are still included in the build, but with no source
  files


* Original commit: espressif/esp-idf@e305f29382

components/asio/Kconfig

@@ -1,4 +1,6 @@
 menu "ESP-ASIO"
+    visible if LWIP_IPV6
+
     config ASIO_SSL_SUPPORT
         bool "Enable SSL/TLS support of ASIO"
         default n