Implement Approval Voting Subsystem

[rphmeier]

Closes #1975

This implements all the logic of the approval voting system.

Approval votes are split into two parts: Assignments and Approvals. Validators first broadcast their assignment to indicate intent to check a candidate. Upon successfully checking, they broadcast an approval vote. If a validator doesn't broadcast their approval vote shortly after issuing an assignment, this is an indication that they are being prevented from recovering or validating the block data and that more validators should self-select to check the candidate. This is known as a "no-show".

The core of this subsystem is a Tick-based timer loop, where Ticks are 500ms. We also reason about time in terms of DelayTranches, which measure the number of ticks elapsed since a block was produced. We track metadata for all un-finalized but included candidates. We compute our local assignments to check each candidate, as well as which DelayTranche those assignments may be minimally triggered at. As the same candidate may appear in more than one block, we must produce our potential assignments for each (Block, Candidate) pair. The timing loop is based on waiting for assignments to become no-shows or waiting to broadcast and begin our own assignment to check.

Another main component of this subsystem is the logic for determining when a (Block, Candidate) pair has been approved and when to broadcast and trigger our own assignment. Once a (Block, Candidate) pair has been approved, we mark a corresponding bit in the BlockEntry that indicates the candidate has been approved under the block. When we trigger our own assignment, we broadcast it via Approval Distribution, begin fetching the data from Availability Recovery, and then pass it through to the Candidate Validation. Once these steps are successful, we issue our approval vote. If any of these steps fail, we don't issue any vote and will "no-show" from the perspective of other validators. In the future we will initiate disputes as well.

Where this all fits into Polkadot is via block finality. Our goal is to not finalize any block containing a candidate that is not approved. We provide a hook for a custom GRANDPA voting rule - GRANDPA makes requests of the form (target, minimum) consisting of a target block (i.e. longest chain) that it would like to finalize, and a minimum block which, due to the rules of GRANDPA, must be voted on. The minimum is typically the last finalized block, but may be beyond it, in the case of having a last-round-estimate beyond the last finalized. Thus, our goal is to inform GRANDPA of some block between target and minimum which we believe can be finalized safely. We do this by iterating backwards from the target to the minimum and finding the longest continuous chain from minimum where all candidates included by those blocks have been approved.

[burdges]

LGTM 🎊