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grandpa: rewrite warp sync proof generation (paritytech#8148)
* grandpa: use AuthoritySetChanges to generate warp sync proof * node: init grandpa warp sync protocol * grandpa: iterator for AuthoritySetChanges * grandpa: rewrite warp sync proof generation * grandpa: remove old code for warp sync generation * grandpa: fix indentation * grandpa: fix off by one * grandpa: use binary search to find start idx when generating warp sync proof * grandpa: add method to verify warp sync proofs * grandpa: remove unnecessary code to skip authority set changes * grandpa: add test for warp sync proof generation and verification * grandpa: add missing docs * grandpa: remove trailing comma
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