Add Mbed TLS 4.x support (PSA Crypto) (#2502)

* Add Mbed TLS 4.x support (PSA Crypto) for macOS

Auto-detect Mbed TLS 4.x via MBEDTLS_VERSION_MAJOR and adapt the backend:
- Include psa/crypto.h and drop the headers removed in 4.x (ctr_drbg,
  entropy, md5, sha*), gated behind the version macro.
- Compute MD5/SHA-256/SHA-512 via PSA (psa_hash_compute) and initialize
  PSA Crypto once with std::call_once.
- Drop the explicit entropy/CTR-DRBG RNG (PSA provides the TLS RNG) and
  skip the RNG-callback overloads of pk_parse_key/pk_check_pair on 4.x.
- Retry on a TLS 1.3 NewSessionTicket (the 4.x default) in connect, read,
  write and is_peer_closed via a single mbedtls_is_session_ticket() helper,
  so online HTTPS works, including large redirected downloads where the
  ticket arrives mid-write.

Note V4 implies V3, so 3.x-only paths now check V3 && !V4.

Build systems (macOS): the CMake config and pkg-config shipped by Homebrew
resolve 4.x transitively, so CMakeLists.txt and meson.build need no change
for linking; the Makefile links libtfpsacrypto when present, else
libmbedcrypto.

Tests: generate the encrypted client key as both PBES2-AES (3.6+/4.x,
OpenSSL, wolfSSL) and PBES1-3DES (Mbed TLS 2.28) and pick by version, since
4.x dropped DES and 2.28 lacks PBES2. Also generate the IP-host certs in
test/meson.build to match gen-certs.sh and CMakeLists.txt.

* CI: test Mbed TLS 4.x on macOS, 3.x on Ubuntu 26.04

Homebrew's default mbedtls is now 4.x, so switch the macOS build and CI job
to it (drop the mbedtls@3 pin). That leaves 3.x (Ubuntu 24.04 apt ships 2.28,
macOS now 4.x) uncovered, so add an ubuntu-26.04 job whose apt provides Mbed
TLS 3.6. Net coverage: 2.28 (ubuntu-latest), 3.6 (ubuntu-26.04), 4.2 (macOS).

ubuntu-26.04 is a public-preview runner image; fold it into the main ubuntu
matrix once ubuntu-latest moves to 26.04.

* Document Mbed TLS 4.x support and libtfpsacrypto rename

Update README.md and the tour's TLS setup pages (en/ja) to note that
Mbed TLS 4.x is now auto-detected and that it renames libmbedcrypto
to libtfpsacrypto.

.github/workflows/test.yaml

@@ -120,6 +120,33 @@ jobs:
       - name: build and run ThreadPool test
         run: cd test && make test_thread_pool && ./test_thread_pool
 
+  # Ubuntu 26.04's apt ships Mbed TLS 3.6, giving 3.x coverage that
+  # ubuntu-latest (24.04 = 2.28) and macOS (Homebrew = 4.x) no longer provide.
+  # Uses the 26.04 public-preview image; fold into the main ubuntu matrix once
+  # ubuntu-latest moves to 26.04.
+  ubuntu-2604-mbedtls:
+    runs-on: ubuntu-26.04
+    if: >
+      (github.event_name == 'push') ||
+      (github.event_name == 'pull_request'  &&
+       github.event.pull_request.head.repo.full_name != github.event.pull_request.base.repo.full_name) ||
+      (github.event_name == 'workflow_dispatch' && github.event.inputs.test_linux == 'true')
+    name: ubuntu-26.04 (mbedtls 3.x)
+    steps:
+      - name: checkout
+        uses: actions/checkout@v4
+      - name: install common libraries
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y libcurl4-openssl-dev zlib1g-dev libbrotli-dev libzstd-dev
+      - name: install Mbed TLS
+        run: sudo apt-get install -y libmbedtls-dev
+      - name: build and run tests (Mbed TLS)
+        # Run mbedTLS shards with reduced parallelism — under ASAN+mbedTLS the
+        # default 4 shards overload CI runners enough that timing-sensitive
+        # ServerTest cases flake on first-request keep-alive reuse.
+        run: cd test && make test_split_mbedtls && SHARDS=2 make test_mbedtls_parallel
+
   # BoringSSL is Google's fork of OpenSSL. It has no API stability guarantee
   # and is not packaged by distros, so we build it from source. cpp-httplib
   # treats it as an OpenSSL backend variant via the OPENSSL_IS_BORINGSSL
@@ -372,7 +399,7 @@ jobs:
         uses: actions/checkout@v4
       - name: install Mbed TLS
         if: matrix.tls_backend == 'mbedtls'
-        run: brew install mbedtls@3
+        run: brew install mbedtls
       - name: install wolfSSL
         if: matrix.tls_backend == 'wolfssl'
         run: brew install wolfssl