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[security] Fix crash when the Upgrade header cannot be read (#2231)

It is possible that the Upgrade header is correctly received and handled
(the `'upgrade'` event is emitted) without its value being returned to
the user. This can happen if the number of received headers exceed the
`server.maxHeadersCount` or `request.maxHeadersCount` threshold. In this
case `incomingMessage.headers.upgrade` may not be set.

Handle the case correctly and abort the handshake.

Fixes #2230

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