feat: consistant support of cs.Println and debugInfo

[gbotrel]

Circuits compiled with backend.GROTH16 or backend.PLONK both supportes cs.Println and debug info (stack trace) when a constraint is not satisfied at solving time.

Breaking changes

• encoding of R1CS and SparseR1CS now uses cbor.CoreDetEncOptions() to enable deterministic encoding of maps
• cs.Println has no more side effect on the number of constraint
• groth16.Prove and plonk.Prove APIs now takes a list of backend.ProverOption options, instead of a list of optional arguments.

Example usage

groth16.Prove(cs, pk, witness, backend.WithOutput(&buf), backend.IgnoreSolverError, backend.WithHints(...))

Internal changes

• frontend.ConstraintSystem: assertions are merged with constraints
• compiled/: R1CS and SparseR1CS share a common data structure, the only difference is the list of coefficient (R1C& SparseR1C)
• frontend: added addDebugInfo helper -->

debug := cs.addDebugInfo("div", v1, "/", v2, " == ", res)
cs.addConstraint(newR1C(v2, res, v1), debug)

• adds non regression tests for println and debugInfo (fixes test: cs.Println, logs and debugInfo are not tested #137 )

TODO:

• cs.Println doesn't recurse it's inputs as before to look for variables. Need to allow at least one level of recursion to print data structs containing variables.