Prepare proposer (#3043)

## Issue Addressed

Resolves #2936

## Proposed Changes

Adds functionality for calling [`validator/prepare_beacon_proposer`](https://ethereum.github.io/beacon-APIs/?urls.primaryName=dev#/Validator/prepareBeaconProposer) in advance.

There is a `BeaconChain::prepare_beacon_proposer` method which, which called, computes the proposer for the next slot. If that proposer has been registered via the `validator/prepare_beacon_proposer` API method, then the `beacon_chain.execution_layer` will be provided the `PayloadAttributes` for us in all future forkchoiceUpdated calls. An artificial forkchoiceUpdated call will be created 4s before each slot, when the head updates and when a validator updates their information.

Additionally, I added strict ordering for calls from the `BeaconChain` to the `ExecutionLayer`. I'm not certain the `ExecutionLayer` will always maintain this ordering, but it's a good start to have consistency from the `BeaconChain`. There are some deadlock opportunities introduced, they are documented in the code.

## Additional Info

- ~~Blocked on #2837~~

Co-authored-by: realbigsean <seananderson33@GMAIL.com>

beacon_node/beacon_chain/src/errors.rs

@@ -138,6 +138,7 @@ pub enum BeaconChainError {
     AltairForkDisabled,
     ExecutionLayerMissing,
     ExecutionForkChoiceUpdateFailed(execution_layer::Error),
+    PrepareProposerBlockingFailed(execution_layer::Error),
     ExecutionForkChoiceUpdateInvalid {
         status: PayloadStatus,
     },
@@ -160,6 +161,7 @@ pub enum BeaconChainError {
         head_state: Checkpoint,
         fork_choice: Hash256,
     },
+    InvalidSlot(Slot),
 }
 
 easy_from_to!(SlotProcessingError, BeaconChainError);