Refactor codebase and add missing generics

[maramihali]

• Created src/testudo_{snark,nizk}.rs that incorporates the Testudo Snark/Nizk functionality, now separated properly between the prover and the verifer.
• Separated the setup, prover and verifier code better in r1csproof.rs
• Added generics to new benchmark and profiler
• Ensures the CI passes

[nikkolasg]

It looks good but tbh it is very large changes it is a bit hard to keep track of what is new and what has only been changed of name / place. Anything new except the benchmark changes ?

[maramihali]

So nizk and snark mode (which i'll comment better before merging) are now in separate files rather than everything in lib.rs. The bench and profile are testudo snark specific
And in r1csproof.rs I separated the setup, proving and verification a bit better
And I removed warnings and made CI work