cumulus: unincluded segment submission with every RC slot

[iulianbarbu]

Description

Initial resubmission flow based on V4 collator protocol (both collator-side #12172 and validator-side tbd), #12091 & #12097 .

Covers parts of #12036 without the freshness tracker, exceptions to it, or core affinity.

Integration

N/A yet

Review Notes

This is a demonstrative flow which attempts seding the entire unincluded segment always on the first core it gets during an RC slot.

In the near future I'd want:

1. this PR to contain only the resubmission bits, not the unincluded segment store, or the PVF scheduling proof verification (for now the commits from the associated PRs where added in this branch, but in the future I hope I can rebase on top of them, by either having the PRs rebased on top of each other too, or having them merged in baster)
2. to do a refactor of the block builder task to separate the run_builder_task loop concerns in an easier to reason about way (compatible with both v2 and v3/v4).
3. add the freshness tracker and the exceptions to it when building close to RC slot boundary
4. experiment with core affinity: e.g. initial submissions core selectors for each block can be reused for resubmissions, and even if the same core selectors do not make sense certain claim queue offset/scheduling parent, we'd still be able to map it to a core selector with a modulo operation. This is mainly to spread fairly the blocks through the available cores.