Bump warp and begin axum migration (#9001)

- Bump `warp` to 0.4. This unifies `warp` and `axum` onto the same `http`, `hyper`, `h2`, `rustls`, etc versions.
- Create `axum_utils` which contain common functions and types
- Begins migration of all HTTP API servers from warp to axum


Co-Authored-By: Mac L <mjladson@pm.me>

Cargo.toml

@@ -17,6 +17,7 @@ members = [
     "beacon_node/timer",
     "boot_node",
     "common/account_utils",
+    "common/axum_utils",
     "common/clap_utils",
     "common/deposit_contract",
     "common/directory",
@@ -106,7 +107,8 @@ alloy-signer-local = { version = "1", default-features = false }
 anyhow = "1"
 arbitrary = { version = "1", features = ["derive"] }
 async-channel = "1.9.0"
-axum = "0.7.7"
+axum = "0.8"
+axum_utils = { path = "common/axum_utils" }
 beacon_chain = { path = "beacon_node/beacon_chain" }
 beacon_node = { path = "beacon_node" }
 beacon_node_fallback = { path = "validator_client/beacon_node_fallback" }
@@ -229,9 +231,11 @@ sysinfo = "0.26"
 system_health = { path = "common/system_health" }
 task_executor = { path = "common/task_executor" }
 tempfile = "3"
+thiserror = "2"
 tokio = { version = "1", features = ["rt-multi-thread", "sync", "signal", "macros"] }
 tokio-stream = { version = "0.1", features = ["sync"] }
 tokio-util = { version = "0.7", features = ["codec", "compat", "time"] }
+tower = "0.5"
 tracing = "0.1.40"
 tracing-appender = "0.2"
 tracing-core = "0.1"
@@ -253,7 +257,7 @@ validator_metrics = { path = "validator_client/validator_metrics" }
 validator_services = { path = "validator_client/validator_services" }
 validator_store = { path = "validator_client/validator_store" }
 validator_test_rig = { path = "testing/validator_test_rig" }
-warp = { version = "0.3.7", default-features = false, features = ["tls"] }
+warp = { version = "0.4", default-features = false, features = ["server"] }
 warp_utils = { path = "common/warp_utils" }
 workspace_members = { path = "common/workspace_members" }
 xdelta3 = { git = "https://github.com/sigp/xdelta3-rs", rev = "fe3906605c87b6c0515bd7c8fc671f47875e3ccc" }
@@ -272,6 +276,10 @@ incremental = false
 inherits = "release"
 debug = true
 
+[patch.crates-io]
+# Temporary patch until the axum migration is complete
+warp = { git = "https://github.com/macladson/warp", rev = "6f5f21beab6a240e59470caaab56afd46d46b709" }
+
 [patch."https://github.com/libp2p/rust-libp2p.git"]
 libp2p = { git = "https://github.com/sigp/rust-libp2p.git", rev = "3563de5ed20e509885592b391aa816992eef55d4" }
 libp2p-mplex = { git = "https://github.com/sigp/rust-libp2p.git", rev = "3563de5ed20e509885592b391aa816992eef55d4" }