Add BEEFY `latestFinalized` RPC and deduplicate code between BEEFY and GRANDPA (#10568)

* beefy: add dummy latest_finalized() RPC

* beefy: rpc latest_best_beefy() using shared mem

* beefy: rpc populate latest_best_beefy()

* beefy: rpc handle readiness

* beefy: best block over channel - wip

Not working because channel can't be simply opened and receiver passed
to `rpc_extensions_builder` because `rpc_extensions_builder` has to be
`Fn` and not `FnOnce`... and and Receiver side of mpsc can't be cloned

yay!..

* beefy: make notification channels payload-agnostic

* beefy: use notification mechanism instead of custom channel

* beefy: add tracing key to notif channels

* sc-utils: add notification channel - wip

* beefy: use sc-utils generic notification channel

* grandpa: use sc-utils generic notification channel

* fix grumbles

* beefy-rpc: get best block header instead of number

* beefy-rpc: rename to `beefy_getFinalizedHead`

* fix nitpicks

* client-rpc-notifications: move generic Error from struct to fn

* beefy: use header from notification instead of getting from database

* beefy-rpc: get best block hash instead of header

* beefy-rpc: fix and improve latestHead test

* beefy-rpc: bubble up errors from rpc-handler instantiation

* update lockfile

* Apply suggestions from code review

Co-authored-by: André Silva <[email protected]>

* fix errors and warnings

* fix nit

Co-authored-by: André Silva <[email protected]>