fix(consensus): improve consensus alghorithm

[b00f]

Description

This PR enhances the consensus algorithm in the following ways:

• Reduces the ChangeProposerTimeout to 5 seconds and increases ChangeProposerDelta to 5 seconds. This allows the proposer change to start one second earlier and the next proposer change to start one second later.
• Moves the basic check for proposals to the consensus phase. This optimization benefits nodes that are not part of the committee.
• Adds the round to the query proposal message. This ensures that messages with expired rounds are ignored.
• When a validator sees a proper and justified "Decided" vote, it moves the consensus to the vote's round, even if it is a prior round.
• The proposer responds to the query-proposal message. This helps to reduce the number of consensus messages.

[codecov]

Codecov Report

Attention: Patch coverage is 86.30137% with 20 lines in your changes missing coverage. Please review.

Project coverage is 76.64%. Comparing base (20e991a) to head (4fc2ca8).
Report is 17 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1329      +/-   ##
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+ Coverage   76.05%   76.64%   +0.58%     
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  Files         206      231      +25     
  Lines       10672    11788    +1116     
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+ Hits         8117     9035     +918     
- Misses       2169     2335     +166     
- Partials      386      418      +32