Grandpa validator set handoff justification (#1190)

* core: make block justification optional

* runtime: update wasm binaries

* core: optionally pass justification on finalize_block

* finality-grandpa: add channel to trigger authority set changes

this will allow the `BlockImport` to trigger an authority set change when
importing a change block that provides a justification (when syncing)

* finality-grandpa: move finalize_block to free function

* finality-grandpa: add GrandpaOracle for auth set liveness checking

this will be used by `BlockImport` to check whether the authority set for a
given block is still live, if the authority set isn't live then importing a
change block requires a justification.

* finality-grandpa: store justification on finalized transition blocks

* finality-grandpa: check justification on authority set change blocks

* finality-grandpa: poll grandpa liveness oracle every 10 seconds

* finality-grandpa: spawn grandpa oracle in service setup

* core: support multiple subscriptions per consensus gossip topic

* finality-grandpa: create and verify justifications

* finality-grandpa: update to local branch of grandpa

* finality-grandpa: update to finality-grandpa v0.5.0

* finality-grandpa: move grandpa oracle code

* finality-grandpa: fix canonality check

* finality-grandpa: clean up error handling

* finality-grandpa: fix canonical_at_height

* finality-grandpa: fix tests

* runtime: update wasm binaries

* core: add tests for finalizing block with justification

* finality-grandpa: improve validation of justifications

* core: remove unused IncompleteJustification block import error

* core: test multiple subscribers for same consensus gossip topic

* Revert "finality-grandpa: improve validation of justifications"

This reverts commit 51eb2c58c2219801e876af6d6c9371bdd9ff2477.

* finality-grandpa: fix commit validation

* finality-grandpa: fix commit ancestry validation

* finality-grandpa: use grandpa v0.5.1

* finality-grandpa: add docs

* finality-grandpa: fix failing test

* finality-grandpa: only allow a pending authority set change per fork

* finality-grandpa: fix validator set transition test

substrate/core/consensus/common/src/block_import.rs

@@ -22,7 +22,7 @@ use runtime_primitives::Justification;
 use std::borrow::Cow;
 
 /// Block import result.
-#[derive(Debug)]
+#[derive(Debug, PartialEq, Eq)]
 pub enum ImportResult {
 	/// Added to the import queue.
 	Queued,
@@ -69,8 +69,8 @@ pub struct ImportBlock<Block: BlockT> {
 	/// re-executed in a runtime that checks digest equivalence -- the
 	/// post-runtime digests are pushed back on after.
 	pub header: Block::Header,
-	/// Justification provided for this block from the outside:.
-	pub justification: Justification,
+	/// Justification provided for this block from the outside.
+	pub justification: Option<Justification>,
 	/// Digest items that have been added after the runtime for external
 	/// work, like a consensus signature.
 	pub post_digests: Vec<DigestItemFor<Block>>,
@@ -91,7 +91,7 @@ impl<Block: BlockT> ImportBlock<Block> {
 		-> (
 			BlockOrigin,
 			<Block as BlockT>::Header,
-			Justification,
+			Option<Justification>,
 			Vec<DigestItemFor<Block>>,
 			Option<Vec<<Block as BlockT>::Extrinsic>>,
 			bool,