Move runtime upgrade to `frame-executive` (#5197)

* Move runtime upgrade to `frame-executive`

Instead of storing the runtime upgraded in the space of `frame-system`,
this moves it to `frame-executive`. We also start storing the
`spec_version` and `impl_version` the last runtime upgrade was applied.

This scheme has multiple advantages:
- We don't need to make sure that runtime upgrade was set.
- This will work in the future when we want to test a runtime upgrade,
because the `on_runtime_upgrade` will be executed automatically when the
runtime changes.

* Move `LAST_RUNTIME_UPGRADE` key to `frame-executive`

* Add some more documentation

* Make sure `spec_version` always increases between runtime upgrades

* Fix test

* Upgrade `parity-multiaddr` to fix compilation

* Also check if the `spec_name` changed

* Remove `RuntimeUpgraded` storage entry

* Don't run on genesis