Consensus utilities and rearchitecture for more dynamic collators (#2382)

* implement a proposer utility for consensus

* tidy up deps of new proposer crate

* implement a collator-service crate

* rewrite cumulus-collator to use new service struct

* implement a module for relay-chain-driven collators

* adapt start_collator to use the new relay_chain_driven module

* move collator-service to a public submodule

* create an interface trait for the proposer

* begin aura reimplementation

* address review comments

* update substrrate git ref

* update polkadot-primitives refs

* rough draft of aura collation using standalone fns

* add a ServiceInterface

* port aura reimpl to use new service trait

* add an import queue utility crate

* remove import queue crate in favor of module in common

* implement new verification queue for aura

* implement remaining behaviors

* split 'collate' into smaller functions that could be pub

* add telemetry

* fix doc job?

* Specify async-trait patch version

Co-authored-by: Bastian Köcher <git@kchr.de>

* remove 'fn@' in doc string.

Co-authored-by: Bastian Köcher <git@kchr.de>

* update variable names to be more readable

* refactor proposer errors to anyhow/thiserror

* remove manual span instrumentation

Co-authored-by: Bastian Köcher <git@kchr.de>

* make slot_claim private

* fix unused import

* fmt

* fmt

* make clippy happy

---------

Co-authored-by: Bastian Köcher <git@kchr.de>

cumulus/Cargo.lock

@@ -2225,10 +2225,17 @@ name = "cumulus-client-consensus-aura"
 version = "0.1.0"
 dependencies = [
  "async-trait",
+ "cumulus-client-collator",
  "cumulus-client-consensus-common",
+ "cumulus-client-consensus-proposer",
  "cumulus-primitives-core",
+ "cumulus-primitives-parachain-inherent",
+ "cumulus-relay-chain-interface",
  "futures",
  "parity-scale-codec",
+ "polkadot-node-primitives",
+ "polkadot-overseer",
+ "polkadot-primitives",
  "sc-client-api",
  "sc-consensus",
  "sc-consensus-aura",
@@ -2244,6 +2251,8 @@ dependencies = [
  "sp-inherents",
  "sp-keystore",
  "sp-runtime",
+ "sp-state-machine",
+ "sp-timestamp",
  "substrate-prometheus-endpoint",
  "tracing",
 ]
@@ -2268,12 +2277,28 @@ dependencies = [
  "schnellru",
  "sp-blockchain",
  "sp-consensus",
+ "sp-core",
  "sp-runtime",
  "sp-tracing",
  "sp-trie",
+ "substrate-prometheus-endpoint",
  "tracing",
 ]
 
+[[package]]
+name = "cumulus-client-consensus-proposer"
+version = "0.1.0"
+dependencies = [
+ "anyhow",
+ "async-trait",
+ "cumulus-primitives-parachain-inherent",
+ "sp-consensus",
+ "sp-inherents",
+ "sp-runtime",
+ "sp-state-machine",
+ "thiserror",
+]
+
 [[package]]
 name = "cumulus-client-consensus-relay-chain"
 version = "0.1.0"