[pull] develop from OffchainLabs:develop #824
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This PR introduces several simplifications to block processing. It calls to notify the engine in the background when forkchoice needs to be updated. It no longer updates the caches and process epoch transition before computing payload attributes, since this is no longer needed after Fulu. It removes a complicated second call to FCU with the same head after processing the last slot of the epoch. Some checks for reviewers: - the single caller of sendFCU held a lock to forkchoice. Since the call now is in the background this helper can aquire the lock. - All paths to handleEpochBoundary are now **NOT** locked. This allows the lock to get the target root to be taken locally in place. - The checkpoint cache is completely useless and thus the target root call could be removed. But removing the proposer ID cache is more complicated and out of scope for this PR. - lateBlockTasks has pre and post-fulu cased, we could remove pre-fulu checks and defer to the update function if deemed cleaner. - Conversely, postBlockProcess does not have this casing and thus pre-Fulu blocks on gossip may fail to get proposed correctly because of the lack of the proposer being correctly computed.
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