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feat: restart aware doppelganger protection (#6012)
* Skip doppelganger detection if validator attested in previous epoch * Async initialization of ValidatorStore and Validator class * Add attested in prev epoch doppelganger unit test * Fix typos in doppelganger * Update doppelganger service register validator logs * Use jsdoc to document doppelganger statuses * Use prettyBytes to print out pubkeys * Add comment about doppelganger and signer registration order * Print out validator pubkey first * Update validator client jsdoc * Revise doppelganger registration logs * Truncate and format bytes as 0x123456789abc * Add reference to github issue * Revise logs final * Update tests to ensure correct epoch is provided
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