feat(prover): change GuestOutput and the zk committed value for onchain verification

[CeciliaZ030]

The zk provers should return the ProtocolInput hash to match the onchain verifier, when it fails to generate pi_hash the proof should just fail and ZkVM should exit. In that case, the GuestOutput::Failure will never be used and currently it's not used reasonably so we should just remove the case.

pub enum GuestOutput {
    Success {
        header: AlloyConsensusHeader,
        hash: B256,
    },
    Failure,
}

change to:

pub enum GuestOutput {
    header: AlloyConsensusHeader,
    hash: B256,
}

For verifier support, see taikoxyz/taiko-mono#17215