feat(protocol): major protocol upgrade

[dantaik]

Major Changes:

• remove commit-and-propose scheme
• txListProof must be part of the block proposal but it is not verified when a block is proposed. The main zk-proof must also include the txListProof circuit.
• invalid blocks are proven by running the zk-verifier for block's txListProofs and such verification must fail (invalidatedBlock function is deleted from TaikoL2.sol)
• the anchor transaction validation is deleted from L1 and shall be done by a new circuit on top of the existing ZKP.
• synchronize not only the block header hashes across chains, but also the SignalServcie Storage Roots (signalRoot) -- Currently to prove signal's validity on the destination chain, we need to provide a full merkle proof which has two parts, the account proof and the storage proof. After this change, the account proof will be done only once in circuits. Users only need to provide the storage merkle proof, which will be less expensive.

Other Changes:

• do NOT refund the proposer if the block is invalid
• call plonk verifiers directly from LibProving by removing IProofVerifier contracts
• use string.concat and bytes.concat instead of abi.encodePacked/abi.encode
• delete a few unused libraries
• disable a lot of protocol tests based on Dave's comment (probably need rewrite)

As you can see, the protocol is greatly simplified.

[codecov]

Codecov Report

Merging #13225 (748d42d) into main (72d152b) will increase coverage by 0.44%.
The diff coverage is 19.76%.

@@            Coverage Diff             @@
##             main   #13225      +/-   ##
==========================================
+ Coverage   61.50%   61.94%   +0.44%     
==========================================
  Files         117      107      -10     
  Lines        3460     3072     -388     
  Branches      485      373     -112     
==========================================
- Hits         2128     1903     -225     
+ Misses       1249     1086     -163     
  Partials       83       83              

Flag	Coverage Δ		*Carryforward flag
bridge-ui	93.80% <ø> (ø)		Carriedforward from 78ad1ff
protocol	50.53% <19.76%> (-1.62%)	⬇️
relayer	65.18% <ø> (ø)		Carriedforward from 78ad1ff
ui	100.00% <ø> (ø)		Carriedforward from 78ad1ff

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
packages/protocol/contracts/L1/TaikoConfig.sol	0.00% <ø> (ø)
packages/protocol/contracts/L1/TaikoToken.sol	85.00% <ø> (ø)
packages/protocol/contracts/L1/libs/LibProving.sol	0.00% <0.00%> (ø)
packages/protocol/contracts/L2/TaikoL2.sol	0.00% <0.00%> (-53.85%)	⬇️
packages/protocol/contracts/bridge/Bridge.sol	41.17% <ø> (ø)
packages/protocol/contracts/bridge/TokenVault.sol	51.08% <ø> (ø)
...s/protocol/contracts/bridge/libs/LibBridgeData.sol	100.00% <ø> (ø)
...protocol/contracts/bridge/libs/LibBridgeInvoke.sol	100.00% <ø> (ø)
...rotocol/contracts/bridge/libs/LibBridgeProcess.sol	19.04% <0.00%> (-2.58%)	⬇️
...rotocol/contracts/bridge/libs/LibBridgeRelease.sol	0.00% <ø> (ø)
... and 25 more

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