Add session key types for new consensus implementation to Dolphin and Calamari (Nimbus Stage 0)

[Garandor]

This PR does not contain any functional changes to KMA or DOL with the following two exceptions:
⚠️ The rotateKeys RPC call now returns 3 keys instead of 1
⚠️ The setKeys extrinsic now requires the above 3 keys as parameters instead of just the aura key
Nimbus consensus will be enabled in a later PR.

• Refactor all (aura-)consensus specifics and dependencies out of manta-primitives into a new session-key-primitives crate inspired by Moonbeam's PR above
• Extract the SessionKeys type from the runtimes into the common session-key-primitives module.
  Attempted but failed as the necessary impl_opaque_keys! macro does not support generics

related to #668

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Before we can merge this PR, please make sure that all the following items have been
checked off. If any of the checklist items are not applicable, please leave them but
write a little note why.

• Linked to Github issue with discussion and accepted design OR have an explanation in the PR that describes this work.
• Wrote unit tests.
• Updated relevant documentation in the code.
• Added one line describing your change in <branch>/CHANGELOG.md
• Re-reviewed Files changed in the Github PR explorer.
• If runtime changes, need to update the version numbers properly:
  • authoring_version: The version of the authorship interface. An authoring node will not attempt to author blocks unless this is equal to its native runtime.
  • spec_version: The version of the runtime specification. A full node will not attempt to use its native runtime in substitute for the on-chain Wasm runtime unless all of spec_name, spec_version, and authoring_version are the same between Wasm and native.
  • impl_version: The version of the implementation of the specification. Nodes are free to ignore this; it serves only as an indication that the code is different; as long as the other two versions are the same then while the actual code may be different, it is nonetheless required to do the same thing. Non-consensus-breaking optimizations are about the only changes that could be made which would result in only the impl_version changing.
  • transaction_version: The version of the extrinsics interface. This number must be updated in the following circumstances: extrinsic parameters (number, order, or types) have been changed; extrinsics or pallets have been removed; or the pallet order in the construct_runtime! macro or extrinsic order in a pallet has been changed. You can run the metadata_diff.yml workflow for help. If this number is updated, then the spec_version must also be updated
• Verify benchmarks & weights have been updated for any modified runtime logics
• If importing a new pallet, choose a proper module index for it, and allow it in BaseFilter. Ensure every extrinsic works from front-end. If there's corresponding tool, ensure both work for each other.
• If needed, update our Javascript/Typescript APIs. These APIs are officially used by exchanges or community developers.
• If modifying existing runtime storage items, make sure to implement storage migrations for the runtime and test them with try-runtime. This includes migrations inherited from upstream changes, and you can search the diffs for modifications of #[pallet::storage] items to check for any.

[ghzlatarev]

Does this PR depend on #571 being merged first? If so, please leave a note in the description and mark it with a DO-NOT-MERGE label. Also, this PR does not actually close #486, so just mark it as related but not closing.

If we don't use closes it won't show up in the linked PR section in issues, so that's why we've been closing and reopening them.

All comments addressed