refactor(relayer): support multiple codec versions

[colinlyguo]

Purpose or design rationale of this PR

This PR refactors rollup-relayer to support multiple codec versions.

PR title

Your PR title must follow conventional commits (as we are doing squash merge for each PR), so it must start with one of the following types:

• refactor: A code change that doesn't fix a bug, or add a feature, or improves performance

Deployment tag versioning

Has tag in common/version.go been updated or have you added bump-version label to this PR?

• Yes

Breaking change label

Does this PR have the breaking-change label?

• No, this PR is not a breaking change

[codecov]

Codecov Report

Attention: Patch coverage is 70.47388% with 243 lines in your changes are missing coverage. Please review.

Project coverage is 57.11%. Comparing base (e35d1d5) to head (4a67422).

Files	Patch %	Lines
...llup/internal/controller/watcher/batch_proposer.go	53.40%	31 Missing and 10 partials ⚠️
common/types/encoding/codecv0/codecv0.go	89.74%	25 Missing and 11 partials ⚠️
...llup/internal/controller/watcher/chunk_proposer.go	50.87%	19 Missing and 9 partials ⚠️
rollup/internal/controller/relayer/l2_relayer.go	33.33%	25 Missing and 1 partial ⚠️
common/types/encoding/da.go	82.70%	21 Missing and 2 partials ⚠️
coordinator/internal/orm/chunk.go	0.00%	23 Missing ⚠️
rollup/internal/orm/l2_block.go	48.57%	15 Missing and 3 partials ⚠️
coordinator/internal/orm/batch.go	0.00%	17 Missing ⚠️
rollup/internal/orm/batch.go	53.33%	12 Missing and 2 partials ⚠️
rollup/internal/orm/chunk.go	50.00%	9 Missing and 3 partials ⚠️
... and 2 more

Additional details and impacted files

@@             Coverage Diff             @@
##           develop    #1178      +/-   ##
===========================================
- Coverage    57.22%   57.11%   -0.11%     
===========================================
  Files          154      153       -1     
  Lines        11183    11329     +146     
===========================================
+ Hits          6399     6471      +72     
- Misses        4336     4386      +50     
- Partials       448      472      +24     

Flag	Coverage Δ
bridge-history-api	72.50% <ø> (ø)
common	62.95% <87.80%> (+2.46%)	⬆️
coordinator	20.65% <0.00%> (+0.39%)	⬆️
database	42.85% <ø> (ø)
prover	27.32% <ø> (ø)
rollup	64.37% <52.01%> (-2.18%)	⬇️

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[colinlyguo]

Simplifying some encoding/decoding interfaces (to make the logic much more concise) by changing error return into log.Crit, because some errors should not happen during runtime (bad batch header bytes) or due to severe errors from upstream (invalid block inconsistent with encoding scheme).

Related commits: 2f4622f and 97009c3.