Fix head tracker concurrency bugs (#1771)

## Issue Addressed

Closes #1557

## Proposed Changes

Modify the pruning algorithm so that it mutates the head-tracker _before_ committing the database transaction to disk, and _only if_ all the heads to be removed are still present in the head-tracker (i.e. no concurrent mutations).

In the process of writing and testing this I also had to make a few other changes:

* Use internal mutability for all `BeaconChainHarness` functions (namely the RNG and the graffiti), in order to enable parallel calls (see testing section below).
* Disable logging in harness tests unless the `test_logger` feature is turned on

And chose to make some clean-ups:

* Delete the `NullMigrator`
* Remove type-based configuration for the migrator in favour of runtime config (simpler, less duplicated code)
* Use the non-blocking migrator unless the blocking migrator is required. In the store tests we need the blocking migrator because some tests make asserts about the state of the DB after the migration has run.
* Rename `validators_keypairs` -> `validator_keypairs` in the `BeaconChainHarness`

## Testing

To confirm that the fix worked, I wrote a test using [Hiatus](https://crates.io/crates/hiatus), which can be found here:

https://github.com/michaelsproul/lighthouse/tree/hiatus-issue-1557

That test can't be merged because it inserts random breakpoints everywhere, but if you check out that branch you can run the test with:

```
$ cd beacon_node/beacon_chain
$ cargo test --release --test parallel_tests --features test_logger
```

It should pass, and the log output should show:

```
WARN Pruning deferred because of a concurrent mutation, message: this is expected only very rarely!
```

## Additional Info

This is a backwards-compatible change with no impact on consensus.

beacon_node/client/src/builder.rs

@@ -5,7 +5,6 @@ use beacon_chain::events::TeeEventHandler;
 use beacon_chain::{
     builder::{BeaconChainBuilder, Witness},
     eth1_chain::{CachingEth1Backend, Eth1Chain},
-    migrate::{BackgroundMigrator, Migrate},
     slot_clock::{SlotClock, SystemTimeSlotClock},
     store::{HotColdDB, ItemStore, LevelDB, StoreConfig},
     BeaconChain, BeaconChainTypes, Eth1ChainBackend, EventHandler,
@@ -51,7 +50,6 @@ pub struct ClientBuilder<T: BeaconChainTypes> {
     slot_clock: Option<T::SlotClock>,
     #[allow(clippy::type_complexity)]
     store: Option<Arc<HotColdDB<T::EthSpec, T::HotStore, T::ColdStore>>>,
-    store_migrator: Option<T::StoreMigrator>,
     runtime_context: Option<RuntimeContext<T::EthSpec>>,
     chain_spec: Option<ChainSpec>,
     beacon_chain_builder: Option<BeaconChainBuilder<T>>,
@@ -68,20 +66,9 @@ pub struct ClientBuilder<T: BeaconChainTypes> {
     eth_spec_instance: T::EthSpec,
 }
 
-impl<TStoreMigrator, TSlotClock, TEth1Backend, TEthSpec, TEventHandler, THotStore, TColdStore>
-    ClientBuilder<
-        Witness<
-            TStoreMigrator,
-            TSlotClock,
-            TEth1Backend,
-            TEthSpec,
-            TEventHandler,
-            THotStore,
-            TColdStore,
-        >,
-    >
+impl<TSlotClock, TEth1Backend, TEthSpec, TEventHandler, THotStore, TColdStore>
+    ClientBuilder<Witness<TSlotClock, TEth1Backend, TEthSpec, TEventHandler, THotStore, TColdStore>>
 where
-    TStoreMigrator: Migrate<TEthSpec, THotStore, TColdStore>,
     TSlotClock: SlotClock + Clone + 'static,
     TEth1Backend: Eth1ChainBackend<TEthSpec> + 'static,
     TEthSpec: EthSpec + 'static,
@@ -96,7 +83,6 @@ where
         Self {
             slot_clock: None,
             store: None,
-            store_migrator: None,
             runtime_context: None,
             chain_spec: None,
             beacon_chain_builder: None,
@@ -134,7 +120,6 @@ where
         config: ClientConfig,
     ) -> Result<Self, String> {
         let store = self.store.clone();
-        let store_migrator = self.store_migrator.take();
         let chain_spec = self.chain_spec.clone();
         let runtime_context = self.runtime_context.clone();
         let eth_spec_instance = self.eth_spec_instance.clone();
@@ -145,8 +130,6 @@ where
 
         let store =
             store.ok_or_else(|| "beacon_chain_start_method requires a store".to_string())?;
-        let store_migrator = store_migrator
-            .ok_or_else(|| "beacon_chain_start_method requires a store migrator".to_string())?;
         let context = runtime_context
             .ok_or_else(|| "beacon_chain_start_method requires a runtime context".to_string())?
             .service_context("beacon".into());
@@ -156,7 +139,6 @@ where
         let builder = BeaconChainBuilder::new(eth_spec_instance)
             .logger(context.log().clone())
             .store(store)
-            .store_migrator(store_migrator)
             .data_dir(data_dir)
             .custom_spec(spec.clone())
             .chain_config(chain_config)
@@ -337,17 +319,7 @@ where
     pub fn build(
         self,
     ) -> Result<
-        Client<
-            Witness<
-                TStoreMigrator,
-                TSlotClock,
-                TEth1Backend,
-                TEthSpec,
-                TEventHandler,
-                THotStore,
-                TColdStore,
-            >,
-        >,
+        Client<Witness<TSlotClock, TEth1Backend, TEthSpec, TEventHandler, THotStore, TColdStore>>,
         String,
     > {
         let runtime_context = self
@@ -415,20 +387,9 @@ where
     }
 }
 
-impl<TStoreMigrator, TSlotClock, TEth1Backend, TEthSpec, TEventHandler, THotStore, TColdStore>
-    ClientBuilder<
-        Witness<
-            TStoreMigrator,
-            TSlotClock,
-            TEth1Backend,
-            TEthSpec,
-            TEventHandler,
-            THotStore,
-            TColdStore,
-        >,
-    >
+impl<TSlotClock, TEth1Backend, TEthSpec, TEventHandler, THotStore, TColdStore>
+    ClientBuilder<Witness<TSlotClock, TEth1Backend, TEthSpec, TEventHandler, THotStore, TColdStore>>
 where
-    TStoreMigrator: Migrate<TEthSpec, THotStore, TColdStore>,
     TSlotClock: SlotClock + Clone + 'static,
     TEth1Backend: Eth1ChainBackend<TEthSpec> + 'static,
     TEthSpec: EthSpec + 'static,
@@ -469,10 +430,9 @@ where
     }
 }
 
-impl<TStoreMigrator, TSlotClock, TEth1Backend, TEthSpec, THotStore, TColdStore>
+impl<TSlotClock, TEth1Backend, TEthSpec, THotStore, TColdStore>
     ClientBuilder<
         Witness<
-            TStoreMigrator,
             TSlotClock,
             TEth1Backend,
             TEthSpec,
@@ -482,7 +442,6 @@ impl<TStoreMigrator, TSlotClock, TEth1Backend, TEthSpec, THotStore, TColdStore>
         >,
     >
 where
-    TStoreMigrator: Migrate<TEthSpec, THotStore, TColdStore>,
     TSlotClock: SlotClock + 'static,
     TEth1Backend: Eth1ChainBackend<TEthSpec> + 'static,
     TEthSpec: EthSpec + 'static,
@@ -517,10 +476,9 @@ where
     }
 }
 
-impl<TStoreMigrator, TSlotClock, TEth1Backend, TEthSpec, TEventHandler>
+impl<TSlotClock, TEth1Backend, TEthSpec, TEventHandler>
     ClientBuilder<
         Witness<
-            TStoreMigrator,
             TSlotClock,
             TEth1Backend,
             TEthSpec,
@@ -531,7 +489,6 @@ impl<TStoreMigrator, TSlotClock, TEth1Backend, TEthSpec, TEventHandler>
     >
 where
     TSlotClock: SlotClock + 'static,
-    TStoreMigrator: Migrate<TEthSpec, LevelDB<TEthSpec>, LevelDB<TEthSpec>> + 'static,
     TEth1Backend: Eth1ChainBackend<TEthSpec> + 'static,
     TEthSpec: EthSpec + 'static,
     TEventHandler: EventHandler<TEthSpec> + 'static,
@@ -563,44 +520,9 @@ where
     }
 }
 
-impl<TSlotClock, TEth1Backend, TEthSpec, TEventHandler, THotStore, TColdStore>
+impl<TSlotClock, TEthSpec, TEventHandler, THotStore, TColdStore>
     ClientBuilder<
         Witness<
-            BackgroundMigrator<TEthSpec, THotStore, TColdStore>,
-            TSlotClock,
-            TEth1Backend,
-            TEthSpec,
-            TEventHandler,
-            THotStore,
-            TColdStore,
-        >,
-    >
-where
-    TSlotClock: SlotClock + 'static,
-    TEth1Backend: Eth1ChainBackend<TEthSpec> + 'static,
-    TEthSpec: EthSpec + 'static,
-    TEventHandler: EventHandler<TEthSpec> + 'static,
-    THotStore: ItemStore<TEthSpec> + 'static,
-    TColdStore: ItemStore<TEthSpec> + 'static,
-{
-    pub fn background_migrator(mut self) -> Result<Self, String> {
-        let context = self
-            .runtime_context
-            .as_ref()
-            .ok_or_else(|| "disk_store requires a log".to_string())?
-            .service_context("freezer_db".into());
-        let store = self.store.clone().ok_or_else(|| {
-            "background_migrator requires the store to be initialized".to_string()
-        })?;
-        self.store_migrator = Some(BackgroundMigrator::new(store, context.log().clone()));
-        Ok(self)
-    }
-}
-
-impl<TStoreMigrator, TSlotClock, TEthSpec, TEventHandler, THotStore, TColdStore>
-    ClientBuilder<
-        Witness<
-            TStoreMigrator,
             TSlotClock,
             CachingEth1Backend<TEthSpec>,
             TEthSpec,
@@ -610,7 +532,6 @@ impl<TStoreMigrator, TSlotClock, TEthSpec, TEventHandler, THotStore, TColdStore>
         >,
     >
 where
-    TStoreMigrator: Migrate<TEthSpec, THotStore, TColdStore>,
     TSlotClock: SlotClock + 'static,
     TEthSpec: EthSpec + 'static,
     TEventHandler: EventHandler<TEthSpec> + 'static,
@@ -710,20 +631,11 @@ where
     }
 }
 
-impl<TStoreMigrator, TEth1Backend, TEthSpec, TEventHandler, THotStore, TColdStore>
+impl<TEth1Backend, TEthSpec, TEventHandler, THotStore, TColdStore>
     ClientBuilder<
-        Witness<
-            TStoreMigrator,
-            SystemTimeSlotClock,
-            TEth1Backend,
-            TEthSpec,
-            TEventHandler,
-            THotStore,
-            TColdStore,
-        >,
+        Witness<SystemTimeSlotClock, TEth1Backend, TEthSpec, TEventHandler, THotStore, TColdStore>,
     >
 where
-    TStoreMigrator: Migrate<TEthSpec, THotStore, TColdStore>,
     TEth1Backend: Eth1ChainBackend<TEthSpec> + 'static,
     TEthSpec: EthSpec + 'static,
     TEventHandler: EventHandler<TEthSpec> + 'static,