build: add PCHs for ndnsec and unit tests, fine-tune the existing ones

A full debug+tests build now takes 10% less time with gcc-9 and 21% less
with clang-10. Release builds (without tests) are only marginally faster
with gcc and 7% faster with clang.

Change-Id: I494778fe44cecc6209819a49f48a03f4d16c36af
diff --git a/tools/ndnsec/key-gen.cpp b/tools/ndnsec/key-gen.cpp
index 1d3d79a..553f06c 100644
--- a/tools/ndnsec/key-gen.cpp
+++ b/tools/ndnsec/key-gen.cpp
@@ -22,6 +22,8 @@
 #include "ndnsec.hpp"
 #include "util.hpp"
 
+#include "ndn-cxx/util/io.hpp"
+
 namespace ndn {
 namespace ndnsec {