fix: resolve consensus halt caused by time discrepancy in network.

[themantre]

Description

If there is a time discrepancy in the network, even for a few seconds, there is a high chance that some validators missed votes or proposals. Prior to this PR, votes and proposals that did not belong to the current height were discarded.

This PR enhances the consensus with two improvements:

1. It immediately moves to the next height once a block is committed. This allows us to populate the votes from the next height before the newHeight timer expires.
2. In the consensusManager, we populate all votes and proposals belonging to upcoming heights and process them when the consensus moves to the new height.

Another improvement is the PIP that prevents nodes with a high time discrepancy from joining the network.

[codecov]

Codecov Report

Merging #727 (1516c96) into main (3f43045) will decrease coverage by 0.07%.
The diff coverage is 95.95%.

@@            Coverage Diff             @@
##             main     #727      +/-   ##
==========================================
- Coverage   83.12%   83.06%   -0.07%     
==========================================
  Files         171      172       +1     
  Lines        7977     8011      +34     
==========================================
+ Hits         6631     6654      +23     
- Misses       1031     1042      +11     
  Partials      315      315              

[amirvalhalla]

@themantre
please resolve request changes.