[zigbee] add on_join trigger for esp32 (#16060)

Co-authored-by: Jonathan Swoboda <154711427+swoboda1337@users.noreply.github.com>
Co-authored-by: J. Nick Koston <nick@koston.org>
Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

tests/components/zigbee/common_esp32.yaml

@@ -12,3 +12,6 @@ binary_sensor:
 zigbee:
   model: zigbee_test
   router: true
+  on_join:
+    then:
+      - logger.log: "Joined network"