closes #4469

Improved speed of cleanup by using SignedHeaderAfter instead of TrustedHeader to jump from header to header.

Prune() is now called when a new header and validator set are saved and is a function dealt by the database itself

## Commits:

* prune headers and vals

* modified cleanup and tests

* fixes after my own review

* implement Prune func

* make db ops concurrently safe

* use Iterator in SignedHeaderAfter

we should iterate from height+1, not from the end!

* simplify cleanup

Co-authored-by: Anton Kaliaev <anton.kalyaev@gmail.com>

Before we were storing trustedHeader (height=1) and trustedNextVals
(height=2).

After this change, we will be storing trustedHeader (height=1) and
trustedVals (height=1). This a) simplifies the code b) fixes #4399
inconsistent pairing issue c) gives a relayer access to the current
validator set #4470.

The only downside is more jumps during bisection. If validator set
changes between trustedHeader and the next header (by 2/3 or more), the
light client will be forced to download the next header and check that
2/3+ signed the transition. But we don't expect validator set change too
much and too often, so it's an acceptable compromise.

Closes #4470 and #4399

Closes #4328

When TrustedHeader(height) is called, if the height is less than the trusted height but the header is not in the trusted store then a function finds the previous lowest height with a trusted header and performs a forwards sequential verification to the header of the height that was given. If no error is found it updates the trusted store with the header and validator set for that height and can then return them to the user.

Commits:

* drafted trusted header

* created function to find previous trusted height

* updates missing headers less than the trusted height

* minor cosmetic tweaks

* incorporated suggestions

* lite2: implement Backwards verification

and add SignedHeaderAfter func to Store interface

Refs https://github.com/tendermint/tendermint/issues/4328#issuecomment-581878549

* remove unused method

* write tests

* start with next height in SignedHeaderAfter func

* fix linter errors

* address Callum's comments

Co-authored-by: Anton Kaliaev <anton.kalyaev@gmail.com>

* lite2: move AutoClient into Client

Most of the users will want auto update feature, so it makes sense to
move it into the Client itself, rather than having a separate
abstraction (it makes the code cleaner, but introduces an extra thing
the user will need to learn).

Also, add `FirstTrustedHeight` func to Client to get first trusted height.

* fix db store tests

* separate examples for auto and manual clients

* AutoUpdate tries to update to latest state

NOT 1 header at a time

* fix errors

* lite2: make Logger an option

remove SetLogger func

* fix lite cmd

* lite2: make concurrency assumptions explicit

* fixes after my own review

* no need for nextHeightFn

sequence func will download intermediate headers

* correct comment

* rename adjusted to adjacent

Refs https://github.com/tendermint/tendermint/pull/3989#discussion_r352140829

* rename ErrTooMuchChange to ErrNotEnoughVotingPowerSigned

Refs https://github.com/tendermint/tendermint/pull/3989#discussion_r352142785

* verify commit is properly signed

* remove no longer trusted headers

* restore trustedHeader and trustedNextVals

* check trustedHeader using options

Refs https://github.com/tendermint/tendermint/pull/4209#issuecomment-562462165

* use correct var when checking if headers are adjacent

in bisection func
+ replace TODO with a comment

https://github.com/tendermint/tendermint/pull/3989#discussion_r352125455

* return header in VerifyHeaderAtHeight

because that way we avoid DB call

+ add godoc comments
+ check if there are no headers yet in AutoClient

https://github.com/tendermint/tendermint/pull/3989#pullrequestreview-315454506

* TestVerifyAdjacentHeaders: add 2 more test-cases

+ add TestVerifyReturnsErrorIfTrustLevelIsInvalid

* lite: avoid overflow when parsing key in db store!

* lite: rename AutoClient#Err to Errs

* lite: add a test for AutoClient

* lite: fix keyPattern and call itr.Next in db store

* lite: add two tests for db store

* lite: add TestClientRemovesNoLongerTrustedHeaders

* lite: test Client#Cleanup

* lite: test restoring trustedHeader

https://github.com/tendermint/tendermint/pull/4209#issuecomment-562462165

* lite: comment out unused code in test_helpers

* fix TestVerifyReturnsErrorIfTrustLevelIsInvalid after merge

* change defaultRemoveNoLongerTrustedHeadersPeriod

and add docs

* write more doc

* lite: uncomment testable examples

* use stdlog.Fatal to stop AutoClient tests

* make lll linter happy

* separate errors for 2 cases

- the validator set of a skipped header cannot be trusted, i.e. <1/3rd
  of h1 validator set has signed (new error, something like
  ErrNewValSetCantBeTrusted)
- the validator set is trusted but < 2/3rds has signed
  (ErrNewHeaderCantBeTrusted)

https://github.com/tendermint/tendermint/pull/4209#discussion_r360331253

* remove all headers (even the last one) that are outside

of the trusting period. By doing this, we avoid checking the
trustedHeader's hash in checkTrustedHeaderUsingOptions (case #1).

https://github.com/tendermint/tendermint/pull/4209#discussion_r360332460

* explain restoreTrustedHeaderAndNextVals better

https://github.com/tendermint/tendermint/pull/4209#discussion_r360602328

* add ConfirmationFunction option

for optionally prompting for user input Y/n before removing headers

Refs https://github.com/tendermint/tendermint/pull/4209#discussion_r360602945

* make cleaning optional

https://github.com/tendermint/tendermint/pull/4209#discussion_r364838189

* return error when user refused to remove headers

* check for double votes in VerifyCommitTrusting

* leave only ErrNewValSetCantBeTrusted error

to differenciate between h2Vals.VerifyCommit and
h1NextVals.VerifyCommitTrusting

* fix example tests

* remove unnecessary if condition

https://github.com/tendermint/tendermint/pull/4209#discussion_r365171847

It will be handled by the above switch.

* verifyCommitBasic does not depend on vals

Co-authored-by: Marko <marbar3778@yahoo.com>