Pvf thiserror (#2958)

resolve #2157 

- [x] fix broken doc links
- [x] fix codec macro typo
https://github.com/paritytech/polkadot-sdk/blob/master/polkadot/node/core/pvf/common/src/error.rs#L81
(see the comment below)
- [x] refactor `ValidationError`, `PrepareError` and related error types
to use `thiserror` crate

## `codec` issue

`codec` macro was mistakenly applied two times to `Kernel` error (so it
was encoded with 10 instead of 11 and the same as `JobDied`). The PR
changes it to 11 because

- it was an initial goal of the code author
- Kernel is less frequent than JobDied so in case of existing error
encoding it is more probable to have 10 as JobDied than Kernel

See https://github.com/paritytech/parity-scale-codec/issues/555

----
polkadot address: 13zCyRG2a1W2ih5SioL8byqmQ6mc8vkgFwQgVzJSdRUUmp46

---------

Co-authored-by: s0me0ne-unkn0wn <48632512+s0me0ne-unkn0wn@users.noreply.github.com>

polkadot/node/core/pvf/src/execute/queue.rs

@@ -372,7 +372,7 @@ fn handle_job_finish(
 			?artifact_id,
 			?worker,
 			worker_rip = idle_worker.is_none(),
-			"execution worker concluded, error occurred: {:?}",
+			"execution worker concluded, error occurred: {}",
 			err
 		);
 	} else {