* Bit of refactoring in FRI code
- Inline `OpeningSet[Target]` and their `verify` methods, as they had become fairly trivial wrappers
- Have the challenger observe the openings and generate alpha inside `verify_fri_proof`. Conceptually I think of it as part of the batch-FRI protocol, and it minimizes redundancy.
* Fix tests
Mainly storing pending generators in a Vec rather than a HashMap. Requires an extra check to make sure we don't run one twice after adding it to the Vec twice.
* Add a tree of scopes for proving times
To replace the old `timed!` macro, which had no hierarchy.
It's similar to `ContextTree`, which tracks gate counts of circuit operations.
This gives a more organized output, with indentation levels based on scope depth, parent durations listed before child durations, etc.
* PR feedback
We previously checked for special cases, like arithmetic on constant Targets, in `arithmetic`. We can handle those cases without actually adding an `ArithmeticGate`.
Now that `arithmetic` just calls `arithmetic_extension`, it makes more sense to check for special cases in the latter method, so it applies to both base and extension field arithmetic.
Reduces gate count from 16149 to 15689.
No functional changes here. The biggest change was moving certain files into new directories like `plonk` and `iop` (for things like `Challenger` that could be used in STARKs or other IOPs). I also split a few files, renames, etc, but again nothing functional, so I don't think a careful review is necessary (just a sanity check).
