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Send RemoteSignerError response on double sign (closes #249)
Previously double signing would abort the connection. However, there is a semi-valid use case for returning an error message instead: when concurrent validators on the same chain are sending signing messages. This was proposed by @mdyring in #249. Ideally there should be coordination (i.e. between KMS instances) as to which validator is currently active, as this approach depends critically on the KMS's double signing prevention and encourages configurations where multiple validator instances are attempting to sign simultaneously. This runs the risk that a bug in the KMS's double signing detection could be singularly responsible for a double sign event. However, without something like this, it isn't possible for the KMS to service two validators simultaneously, so this seems like an OK start.
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