grandpa: allow noting that the set has stalled (#6725)

* grandpa: remove unused methods to convert digest

* grandpa: add root extrinsic for scheduling forced change

* grandpa: add benchmark for schedule_forced_change

* grandpa: don't take authority weight in schedule_forced_change

* grandpa: add const for default forced change delay

* grandpa: adjust weights after benchmark on ref hardware

* grandpa: fix cleanup of forced changes on standard change application

* grandpa: replace schedule_forced_change with note_stalled

* grandpa: always trigger a session change when the set is stalled

* grandpa: fix bug on set id mutation after failed scheduled change

* grandpa: take delay as parameter in note_stalled

* grandpa: fix tests

* grandpa: fix cleanup of forced changes

* grandpa: add test for forced changes cleanup

* grandpa: add test for session rotation set id

* grandpa: add test for scheduling of forced changes on new session