inspector: Fix crash for WS connection

Attaching WS session will now include a roundtrip onto the main thread
to make sure there is no other session (e.g. JS bindings)

This change also required refactoring WS socket implementation to better
support scenarios like this.

Fixes: https://github.com/nodejs/node/issues/16852
PR-URL: https://github.com/nodejs/node/pull/17085


Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Timothy Gu <timothygu99@gmail.com>