feat: aggregate with randomness

[matthewkeil]

NOTE: This PR is based on code in #144, #145, #146. Need to update merge branch to master once those PR's are merged. Do not merge until that happens but is ready for review

** Motivation **

Aggregation of signatures in lodestar can take up to 25% of cpu thread time. The process includes a lot of generated JS objects that immediately get thrown away once the signatures are aggregated. This PR is designed to create a single signature call that will do the deserialization and aggregation, with added randomness, in a single function call. By moving this to native the JS objects do not need to be created so only the native deserialization is necessary. Created an async version as well to move this time-intensive work to the worker pool.

** Description of Inclusions **

• Add aggregateWithRandomness and asyncAggregateWithRandomness functions and unit tests
• Add perf test comparison between current implementation and aggregateWithRandomness
• Add test helper function getTestSetsSameMessage and SameMessageTestSets type

[github-actions]

Performance Report

✔️ no performance regression detected

Full benchmark results

Benchmark suite	Current: 27e7d7a	Previous: -	Ratio
PublicKey serialization	923.00 ns/op
PublicKey deserialize	22.550 us/op
PublicKey deserialize and validate - 1 keys	85.251 us/op
PublicKey deserialize and validate - 100 keys	8.3387 ms/op
PublicKey deserialize and validate - 10000 keys	831.12 ms/op
SecretKey.fromKeygen	2.5860 us/op
SecretKey serialization	861.00 ns/op
SecretKey deserialization	1.4180 us/op
SecretKey.toPublicKey	139.34 us/op
SecretKey.sign	530.91 us/op
Signature serialization	1.0940 us/op
Signature deserialize	44.427 us/op
Signatures deserialize and validate - 1 sets	120.46 us/op
Signatures deserialize and validate - 100 sets	12.045 ms/op
Signatures deserialize and validate - 10000 sets	1.1974 s/op
aggregatePublicKeys - 1 sets	2.4410 us/op
aggregatePublicKeys - 8 sets	10.364 us/op
aggregatePublicKeys - 32 sets	37.900 us/op
aggregatePublicKeys - 128 sets	147.73 us/op
aggregatePublicKeys - 256 sets	294.38 us/op
aggregateSignatures - 1 sets	4.1760 us/op
aggregateSignatures - 8 sets	23.720 us/op
aggregateSignatures - 32 sets	91.500 us/op
aggregateSignatures - 128 sets	360.94 us/op
aggregateSignatures - 256 sets	723.85 us/op
JS version of aggregateWithRandomness	295.57 ms/op
native version of aggregateWithRandomness	289.17 ms/op
aggregateVerify - 1 sets	1.5742 ms/op
aggregateVerify - 8 sets	5.7259 ms/op
aggregateVerify - 32 sets	20.403 ms/op
aggregateVerify - 128 sets	78.775 ms/op
aggregateVerify - 256 sets	156.67 ms/op
verifyMultipleAggregateSignatures - 1 sets	1.7510 ms/op
verifyMultipleAggregateSignatures - 8 sets	7.0457 ms/op
verifyMultipleAggregateSignatures - 32 sets	25.562 ms/op
verifyMultipleAggregateSignatures - 128 sets	99.930 ms/op
verifyMultipleAggregateSignatures - 256 sets	198.74 ms/op
Same message - 1 sets	1.7027 ms/op
Same message - 8 sets	2.5719 ms/op
Same message - 32 sets	5.5196 ms/op
Same message - 128 sets	17.749 ms/op
Same message - 256 sets	33.192 ms/op
libuv multithreading - addVerificationRandomness true	23.774 s/op
libuv multithreading - addVerificationRandomness false	23.802 s/op

by benchmarkbot/action