[asyncpg] Implement a middleware layer for query processing

As discussed in #128, it might be a cool idea to have a "middleware" layer in asyncpg where people can register their own code to be ran pre or post query. One usecase is asyncpgsa, which is a project to allow sqlalchemy objects to be passed to asyncpg connection methods. If there was a middleware layer, asyncpgsa could simply be a middleware that would run right before asyncpg prepared the query to convert the sqlalchemy object into a string. This would make asyncpgsa stupid simple, and just be a conversion layer, allowing it to get out of the way, and let asyncpg be the source of truth for everything else. Another use case is metrics. My org is starting to track metrics per endpoint and per database query. If asyncpg had middleware support, we could simply inject a middleware that tracked the query and the time it took, and send that information into our metric platform. This could be done today by wrapping asyncpg and adding a method around it that tracks the metrics. It woul