Add assertions for the head and finality

[nazarhussain]

Motivation

Add assertions for the head and finality tracking per slot.

Resolves #4276, Closes: https://github.com/ChainSafe/lodestar/issues/4547

[github-actions[bot]]

Performance Report

✔️ no performance regression detected

Full benchmark results

Benchmark suite	Current: e3ee5d2e961e0062b7671c287b0a12ddac192c45	Previous: fd8e335b293a174fb98d6dc6a181a1642ecc99b9	Ratio
getPubkeys - index2pubkey - req 1000 vs - 250000 vc	1.8870 ms/op	2.1053 ms/op	0.90
getPubkeys - validatorsArr - req 1000 vs - 250000 vc	65.805 us/op	71.008 us/op	0.93
BLS verify - blst-native	2.1657 ms/op	1.9182 ms/op	1.13
BLS verifyMultipleSignatures 3 - blst-native	4.4734 ms/op	4.0199 ms/op	1.11
BLS verifyMultipleSignatures 8 - blst-native	9.6666 ms/op	8.6175 ms/op	1.12
BLS verifyMultipleSignatures 32 - blst-native	35.265 ms/op	29.900 ms/op	1.18
BLS aggregatePubkeys 32 - blst-native	46.488 us/op	38.948 us/op	1.19
BLS aggregatePubkeys 128 - blst-native	181.61 us/op	159.21 us/op	1.14
getAttestationsForBlock	79.130 ms/op	94.012 ms/op	0.84
isKnown best case - 1 super set check	476.00 ns/op	437.00 ns/op	1.09
isKnown normal case - 2 super set checks	464.00 ns/op	412.00 ns/op	1.13
isKnown worse case - 16 super set checks	468.00 ns/op	416.00 ns/op	1.13
CheckpointStateCache - add get delete	9.2650 us/op	9.4750 us/op	0.98
validate gossip signedAggregateAndProof - struct	5.0275 ms/op	4.3962 ms/op	1.14
validate gossip attestation - struct	2.3671 ms/op	2.1398 ms/op	1.11
pickEth1Vote - no votes	2.1685 ms/op	2.2435 ms/op	0.97
pickEth1Vote - max votes	19.166 ms/op	18.706 ms/op	1.02
pickEth1Vote - Eth1Data hashTreeRoot value x2048	13.029 ms/op	11.886 ms/op	1.10
pickEth1Vote - Eth1Data hashTreeRoot tree x2048	20.396 ms/op	19.559 ms/op	1.04
pickEth1Vote - Eth1Data fastSerialize value x2048	1.4645 ms/op	1.4902 ms/op	0.98
pickEth1Vote - Eth1Data fastSerialize tree x2048	13.299 ms/op	13.780 ms/op	0.97
bytes32 toHexString	948.00 ns/op	1.0510 us/op	0.90
bytes32 Buffer.toString(hex)	812.00 ns/op	706.00 ns/op	1.15
bytes32 Buffer.toString(hex) from Uint8Array	1.1070 us/op	936.00 ns/op	1.18
bytes32 Buffer.toString(hex) + 0x	826.00 ns/op	636.00 ns/op	1.30
Object access 1 prop	0.37400 ns/op	0.32800 ns/op	1.14
Map access 1 prop	0.32000 ns/op	0.30000 ns/op	1.07
Object get x1000	10.867 ns/op	15.918 ns/op	0.68
Map get x1000	0.93600 ns/op	0.87000 ns/op	1.08
Object set x1000	72.016 ns/op	99.581 ns/op	0.72
Map set x1000	48.234 ns/op	66.585 ns/op	0.72
Return object 10000 times	0.44140 ns/op	0.36750 ns/op	1.20
Throw Error 10000 times	5.9390 us/op	6.8930 us/op	0.86
enrSubnets - fastDeserialize 64 bits	2.6410 us/op	2.5590 us/op	1.03
enrSubnets - ssz BitVector 64 bits	858.00 ns/op	693.00 ns/op	1.24
enrSubnets - fastDeserialize 4 bits	385.00 ns/op	352.00 ns/op	1.09
enrSubnets - ssz BitVector 4 bits	869.00 ns/op	653.00 ns/op	1.33
prioritizePeers score -10:0 att 32-0.1 sync 2-0	83.309 us/op	95.063 us/op	0.88
prioritizePeers score 0:0 att 32-0.25 sync 2-0.25	127.71 us/op	141.10 us/op	0.91
prioritizePeers score 0:0 att 32-0.5 sync 2-0.5	211.51 us/op	238.09 us/op	0.89
prioritizePeers score 0:0 att 64-0.75 sync 4-0.75	337.28 us/op	469.67 us/op	0.72
prioritizePeers score 0:0 att 64-1 sync 4-1	407.98 us/op	475.82 us/op	0.86
RateTracker 1000000 limit, 1 obj count per request	183.25 ns/op	164.49 ns/op	1.11
RateTracker 1000000 limit, 2 obj count per request	132.72 ns/op	123.46 ns/op	1.08
RateTracker 1000000 limit, 4 obj count per request	107.87 ns/op	104.68 ns/op	1.03
RateTracker 1000000 limit, 8 obj count per request	94.711 ns/op	92.408 ns/op	1.02
RateTracker with prune	3.9540 us/op	4.2700 us/op	0.93
array of 16000 items push then shift	51.572 us/op	4.5058 us/op	11.45
LinkedList of 16000 items push then shift	12.554 ns/op	16.882 ns/op	0.74
array of 16000 items push then pop	213.10 ns/op	212.73 ns/op	1.00
LinkedList of 16000 items push then pop	12.355 ns/op	16.201 ns/op	0.76
array of 24000 items push then shift	77.357 us/op	6.7287 us/op	11.50
LinkedList of 24000 items push then shift	13.144 ns/op	17.366 ns/op	0.76
array of 24000 items push then pop	199.73 ns/op	228.20 ns/op	0.88
LinkedList of 24000 items push then pop	12.441 ns/op	16.313 ns/op	0.76
intersect bitArray bitLen 8	10.708 ns/op	10.632 ns/op	1.01
intersect array and set length 8	138.81 ns/op	162.46 ns/op	0.85
intersect bitArray bitLen 128	58.308 ns/op	60.167 ns/op	0.97
intersect array and set length 128	1.8887 us/op	2.0027 us/op	0.94
Buffer.concat 32 items	2.0490 ns/op	2.0070 ns/op	1.02
pass gossip attestations to forkchoice per slot	2.9020 ms/op	3.4069 ms/op	0.85
computeDeltas	3.2288 ms/op	3.7056 ms/op	0.87
computeProposerBoostScoreFromBalances	807.83 us/op	755.33 us/op	1.07
altair processAttestation - 250000 vs - 7PWei normalcase	3.4244 ms/op	4.5200 ms/op	0.76
altair processAttestation - 250000 vs - 7PWei worstcase	5.5096 ms/op	6.1768 ms/op	0.89
altair processAttestation - setStatus - 1/6 committees join	183.10 us/op	254.59 us/op	0.72
altair processAttestation - setStatus - 1/3 committees join	354.20 us/op	447.04 us/op	0.79
altair processAttestation - setStatus - 1/2 committees join	513.63 us/op	596.71 us/op	0.86
altair processAttestation - setStatus - 2/3 committees join	679.31 us/op	864.70 us/op	0.79
altair processAttestation - setStatus - 4/5 committees join	949.23 us/op	1.0846 ms/op	0.88
altair processAttestation - setStatus - 100% committees join	1.1534 ms/op	1.2786 ms/op	0.90
altair processBlock - 250000 vs - 7PWei normalcase	25.435 ms/op	27.676 ms/op	0.92
altair processBlock - 250000 vs - 7PWei normalcase hashState	34.691 ms/op	42.615 ms/op	0.81
altair processBlock - 250000 vs - 7PWei worstcase	82.214 ms/op	77.641 ms/op	1.06
altair processBlock - 250000 vs - 7PWei worstcase hashState	110.56 ms/op	110.67 ms/op	1.00
phase0 processBlock - 250000 vs - 7PWei normalcase	3.2925 ms/op	3.8516 ms/op	0.85
phase0 processBlock - 250000 vs - 7PWei worstcase	51.387 ms/op	48.038 ms/op	1.07
altair processEth1Data - 250000 vs - 7PWei normalcase	731.86 us/op	937.05 us/op	0.78
Tree 40 250000 create	739.62 ms/op	727.71 ms/op	1.02
Tree 40 250000 get(125000)	232.88 ns/op	271.73 ns/op	0.86
Tree 40 250000 set(125000)	2.1415 us/op	2.3897 us/op	0.90
Tree 40 250000 toArray()	27.924 ms/op	33.452 ms/op	0.83
Tree 40 250000 iterate all - toArray() + loop	27.975 ms/op	33.854 ms/op	0.83
Tree 40 250000 iterate all - get(i)	118.63 ms/op	115.97 ms/op	1.02
MutableVector 250000 create	12.996 ms/op	17.070 ms/op	0.76
MutableVector 250000 get(125000)	11.753 ns/op	12.387 ns/op	0.95
MutableVector 250000 set(125000)	521.57 ns/op	743.94 ns/op	0.70
MutableVector 250000 toArray()	6.1416 ms/op	6.8728 ms/op	0.89
MutableVector 250000 iterate all - toArray() + loop	6.2751 ms/op	6.6127 ms/op	0.95
MutableVector 250000 iterate all - get(i)	2.6914 ms/op	3.6767 ms/op	0.73
Array 250000 create	6.0352 ms/op	6.5225 ms/op	0.93
Array 250000 clone - spread	3.2403 ms/op	4.1642 ms/op	0.78
Array 250000 get(125000)	1.4170 ns/op	1.5630 ns/op	0.91
Array 250000 set(125000)	1.4370 ns/op	1.6130 ns/op	0.89
Array 250000 iterate all - loop	150.93 us/op	123.30 us/op	1.22
effectiveBalanceIncrements clone Uint8Array 300000	45.762 us/op	200.59 us/op	0.23
effectiveBalanceIncrements clone MutableVector 300000	993.00 ns/op	691.00 ns/op	1.44
effectiveBalanceIncrements rw all Uint8Array 300000	247.05 us/op	242.56 us/op	1.02
effectiveBalanceIncrements rw all MutableVector 300000	164.88 ms/op	177.85 ms/op	0.93
phase0 afterProcessEpoch - 250000 vs - 7PWei	189.90 ms/op	165.11 ms/op	1.15
phase0 beforeProcessEpoch - 250000 vs - 7PWei	60.864 ms/op	69.601 ms/op	0.87
altair processEpoch - mainnet_e81889	548.15 ms/op	557.61 ms/op	0.98
mainnet_e81889 - altair beforeProcessEpoch	138.88 ms/op	152.55 ms/op	0.91
mainnet_e81889 - altair processJustificationAndFinalization	17.905 us/op	64.080 us/op	0.28
mainnet_e81889 - altair processInactivityUpdates	8.8165 ms/op	9.8942 ms/op	0.89
mainnet_e81889 - altair processRewardsAndPenalties	79.783 ms/op	95.865 ms/op	0.83
mainnet_e81889 - altair processRegistryUpdates	2.7560 us/op	14.358 us/op	0.19
mainnet_e81889 - altair processSlashings	676.00 ns/op	3.8690 us/op	0.17
mainnet_e81889 - altair processEth1DataReset	679.00 ns/op	4.3300 us/op	0.16
mainnet_e81889 - altair processEffectiveBalanceUpdates	2.1701 ms/op	2.1014 ms/op	1.03
mainnet_e81889 - altair processSlashingsReset	4.6440 us/op	26.327 us/op	0.18
mainnet_e81889 - altair processRandaoMixesReset	3.9900 us/op	26.834 us/op	0.15
mainnet_e81889 - altair processHistoricalRootsUpdate	791.00 ns/op	4.2210 us/op	0.19
mainnet_e81889 - altair processParticipationFlagUpdates	2.3210 us/op	15.046 us/op	0.15
mainnet_e81889 - altair processSyncCommitteeUpdates	628.00 ns/op	3.5700 us/op	0.18
mainnet_e81889 - altair afterProcessEpoch	197.85 ms/op	176.14 ms/op	1.12
phase0 processEpoch - mainnet_e58758	489.57 ms/op	520.30 ms/op	0.94
mainnet_e58758 - phase0 beforeProcessEpoch	182.82 ms/op	232.77 ms/op	0.79
mainnet_e58758 - phase0 processJustificationAndFinalization	16.325 us/op	61.176 us/op	0.27
mainnet_e58758 - phase0 processRewardsAndPenalties	116.51 ms/op	142.88 ms/op	0.82
mainnet_e58758 - phase0 processRegistryUpdates	10.060 us/op	32.989 us/op	0.30
mainnet_e58758 - phase0 processSlashings	722.00 ns/op	3.1600 us/op	0.23
mainnet_e58758 - phase0 processEth1DataReset	638.00 ns/op	3.6220 us/op	0.18
mainnet_e58758 - phase0 processEffectiveBalanceUpdates	1.9321 ms/op	1.9563 ms/op	0.99
mainnet_e58758 - phase0 processSlashingsReset	3.6070 us/op	13.425 us/op	0.27
mainnet_e58758 - phase0 processRandaoMixesReset	4.1640 us/op	25.836 us/op	0.16
mainnet_e58758 - phase0 processHistoricalRootsUpdate	734.00 ns/op	4.1650 us/op	0.18
mainnet_e58758 - phase0 processParticipationRecordUpdates	4.2440 us/op	23.535 us/op	0.18
mainnet_e58758 - phase0 afterProcessEpoch	162.98 ms/op	149.72 ms/op	1.09
phase0 processEffectiveBalanceUpdates - 250000 normalcase	2.0011 ms/op	2.0507 ms/op	0.98
phase0 processEffectiveBalanceUpdates - 250000 worstcase 0.5	2.2341 ms/op	2.6758 ms/op	0.83
altair processInactivityUpdates - 250000 normalcase	41.104 ms/op	45.441 ms/op	0.90
altair processInactivityUpdates - 250000 worstcase	34.188 ms/op	56.453 ms/op	0.61
phase0 processRegistryUpdates - 250000 normalcase	6.7110 us/op	26.806 us/op	0.25
phase0 processRegistryUpdates - 250000 badcase_full_deposits	382.32 us/op	445.25 us/op	0.86
phase0 processRegistryUpdates - 250000 worstcase 0.5	173.75 ms/op	254.27 ms/op	0.68
altair processRewardsAndPenalties - 250000 normalcase	78.815 ms/op	135.74 ms/op	0.58
altair processRewardsAndPenalties - 250000 worstcase	76.806 ms/op	88.725 ms/op	0.87
phase0 getAttestationDeltas - 250000 normalcase	12.222 ms/op	12.589 ms/op	0.97
phase0 getAttestationDeltas - 250000 worstcase	12.725 ms/op	13.696 ms/op	0.93
phase0 processSlashings - 250000 worstcase	5.2562 ms/op	5.2926 ms/op	0.99
altair processSyncCommitteeUpdates - 250000	297.63 ms/op	292.97 ms/op	1.02
BeaconState.hashTreeRoot - No change	546.00 ns/op	531.00 ns/op	1.03
BeaconState.hashTreeRoot - 1 full validator	72.455 us/op	67.877 us/op	1.07
BeaconState.hashTreeRoot - 32 full validator	741.96 us/op	847.29 us/op	0.88
BeaconState.hashTreeRoot - 512 full validator	6.8384 ms/op	6.8674 ms/op	1.00
BeaconState.hashTreeRoot - 1 validator.effectiveBalance	86.597 us/op	84.350 us/op	1.03
BeaconState.hashTreeRoot - 32 validator.effectiveBalance	1.3717 ms/op	1.2740 ms/op	1.08
BeaconState.hashTreeRoot - 512 validator.effectiveBalance	17.780 ms/op	16.080 ms/op	1.11
BeaconState.hashTreeRoot - 1 balances	71.522 us/op	70.387 us/op	1.02
BeaconState.hashTreeRoot - 32 balances	635.44 us/op	620.83 us/op	1.02
BeaconState.hashTreeRoot - 512 balances	6.6230 ms/op	5.8802 ms/op	1.13
BeaconState.hashTreeRoot - 250000 balances	109.06 ms/op	96.995 ms/op	1.12
aggregationBits - 2048 els - zipIndexesInBitList	33.654 us/op	29.152 us/op	1.15
regular array get 100000 times	62.539 us/op	48.500 us/op	1.29
wrappedArray get 100000 times	60.590 us/op	49.849 us/op	1.22
arrayWithProxy get 100000 times	28.994 ms/op	29.262 ms/op	0.99
ssz.Root.equals	538.00 ns/op	524.00 ns/op	1.03
byteArrayEquals	541.00 ns/op	519.00 ns/op	1.04
shuffle list - 16384 els	11.612 ms/op	11.679 ms/op	0.99
shuffle list - 250000 els	168.11 ms/op	144.16 ms/op	1.17
processSlot - 1 slots	14.256 us/op	12.931 us/op	1.10
processSlot - 32 slots	2.0372 ms/op	1.9784 ms/op	1.03
getEffectiveBalanceIncrementsZeroInactive - 250000 vs - 7PWei	390.02 us/op	372.21 us/op	1.05
getCommitteeAssignments - req 1 vs - 250000 vc	5.3895 ms/op	4.6527 ms/op	1.16
getCommitteeAssignments - req 100 vs - 250000 vc	7.8779 ms/op	6.7033 ms/op	1.18
getCommitteeAssignments - req 1000 vs - 250000 vc	8.4501 ms/op	6.7332 ms/op	1.26
RootCache.getBlockRootAtSlot - 250000 vs - 7PWei	8.0700 ns/op	8.5100 ns/op	0.95
state getBlockRootAtSlot - 250000 vs - 7PWei	1.3326 us/op	1.2590 us/op	1.06
computeProposers - vc 250000	18.827 ms/op	16.538 ms/op	1.14
computeEpochShuffling - vc 250000	171.12 ms/op	146.49 ms/op	1.17
getNextSyncCommittee - vc 250000	296.41 ms/op	299.83 ms/op	0.99

by benchmarkbot/action