feat(taiko-client): change guardian provers to directly submit proofs instead of contests

[YoGhurt111]

Description

1. Clarify responsibilities between components.
   1.1. Event-handler just handles behavior when receiving various events, including submitting proof, submitting a contest, or doing nothing.
   1.2. Proof-submitter chooses how to submit proof and whether to use delay.

2. Guardian prover workflow
   
   
   

[codecov]

Codecov Report

Attention: Patch coverage is 37.71930% with 71 lines in your changes are missing coverage. Please review.

Project coverage is 48.35%. Comparing base (f53766b) to head (daa243a).
Report is 519 commits behind head on main.

❗ Current head daa243a differs from pull request most recent head b801d78. Consider uploading reports for the commit b801d78 to get more accurate results

Files	Patch %	Lines
...o-client/prover/proof_submitter/proof_submitter.go	41.30%	23 Missing and 4 partials ⚠️
...aiko-client/prover/event_handler/block_proposed.go	0.00%	22 Missing ⚠️
...o-client/prover/event_handler/transition_proved.go	53.12%	14 Missing and 1 partial ⚠️
packages/taiko-client/prover/event_handler/util.go	25.00%	3 Missing ⚠️
...-client/prover/event_handler/assignment_expired.go	0.00%	2 Missing ⚠️
...lient/prover/event_handler/transition_contested.go	0.00%	1 Missing ⚠️
packages/taiko-client/prover/prover.go	0.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main   #17069       +/-   ##
===========================================
+ Coverage   26.82%   48.35%   +21.53%     
===========================================
  Files         105       57       -48     
  Lines        6188     5780      -408     
===========================================
+ Hits         1660     2795     +1135     
+ Misses       4348     2683     -1665     
- Partials      180      302      +122     

Flag	Coverage Δ
eventindexer	?
guardian-prover-health-check	?
relayer	?

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[dantaik]

Gavin, I think when we have zk proofs, there should be a minimum delay before guardian prover submits a proof, to give regular prover a chance to submit valid proofs.

[YoGhurt111]

Gavin, I think when we have zk proofs, there should be a minimum delay before guardian prover submits a proof, to give regular prover a chance to submit valid proofs.

Yes, we did. Either sgx or zk proofs, guardian prover will not submit proof until the current time is greater than expiredAt + at least 1 hour and there was no proof at that time.

In the above guardian prover workflow, I focused on the guardian prover's behavior when receiving events and put the logic about delaying into packages/taiko-client/prover/proof_submitter/proof_submitter.go.