ICS4: `recvPacket()` should emit an event for already received packets on ordered channels

[plafer]

ICS4's recvPacket() currently aborts the transaction and emits no logs if the channel is ordered and the sequence number in the packet doesn't match the chain's nextSequenceRecv. However, ibc-go and ibc-rs emit an event and return a "no-op" error code, as introduced in this PR, when packet.sequence < nextSequenceRecv. This deviation from the standard was introduced to reduce fees to relayers.

I don't know if we want to consider the "no-op" error code an implementation detail; however, I believe we should at least have the standard emit an event when packet.sequence < nextSequenceRecv.