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on top of #1367
This PR should introduce Millau BEEFY -> Rialto relay. Right now relay is able to initialize pallet, but finality transactions are rejected, because we need to solve #1367 (comment) first.
I'm going to extract parts of this PR:
FinalityEnginerefactoring to separate PR: FinalityEngine in substrate relay #1374;Once this is done and issue, described above is solved, this PR (after some cleanup of course) will be ready to review.