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

Backport of e305f29382

Closes https://github.com/espressif/esp-idf/issues/7816

examples/protocols/sockets/tcp_server/CMakeLists.txt

@@ -5,7 +5,6 @@ cmake_minimum_required(VERSION 3.5)
 # (Not part of the boilerplate)
 # This example uses an extra component for common functions such as Wi-Fi and Ethernet connection.
 set(EXTRA_COMPONENT_DIRS $ENV{IDF_PATH}/examples/common_components/protocol_examples_common)
-set(EXCLUDE_COMPONENTS "coap" "asio")
 
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(tcp_server)