Upgrade nodes in CI tests

[meddle0x53]

Motivation

To test upgrading snarkos versions in a network we run a special denvet test as described in #4026

Test Plan

Run the CI and the new test passes.

Documentation

The test works following the steps:

1. Download latest snarkOS release source from GitHub.
2. Build it via cargo install --locked --path . --features test_network into a separate prefix (SNARKOS_RELEASE_DIR).
3. Probe latest_consensus_version for release and PR binaries.
4. Compute CONSENSUS_VERSION_HEIGHTS for release and PR.
5. Rebuild release snarkOS with its heights.
6. Rebuild PR snarkOS with its heights.
7. Start a devnet with the release binary.
8. Restart nodes one-by-one to the PR binary.

Added a new workflow for the new test, extracting it from the devnet tests, as it is time-taking with all the compilations and waiting on the consensus version.

[kaimast]

Looks good to me! I pushed one more commit with some minor cleanups (83355c6).

I also rebased https://github.com/ProvableHQ/snarkOS/pull/3902 on it. That PR has some networking changes and the tests succeed. We might still want to test it with a branch that has breaking changes to see that those are caught, or did you do that already?

Also, a side note, it would be great if we could keep the number of commits in PRs to a manageable amount. This one has 14 commits, for ~700 LOC. It's not a huge deal, but it can be a pain when reading the commit logs and or when using git bisect.

[meddle0x53]

@kaimast @vicsn Squashed all into one commit now.

[vicsn]

@kaimast good idea. You want to give it another go with a toy PR which changes the gateway handshake in a breaking way?