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daphne: Add support for the Mastic VDAF
Mastic (https://datatracker.ietf.org/doc/draft-mouris-cfrg-mastic/) is a VDAF that enables a richer set of functionalities than the VDAFs we support so so far. The `daphne::vdaf::mastic` module contains a "dummy" version of Mastic intended to exercise the DAP protocol logic we would need in order to fully support this VDAF. The `prio` crate now implements Mastic, so upgrade to a version of the crate that supports it and replace the dummy VDAF with the real one. In addition, to complete aggregation of a report, it is necessary to know the aggregation parameter, which currently is only plumbed to report initialization. In particular, `DapTaskConfig::produce_agg_job_resp()` needs the aggregation parameter from the aggregation job request message. (Likewise, `ToInitializedReportsTransition::with_initialized_reports()` needs the aggregation parameter.) Finally, clean up some API cruft in `daphne::vdaf`: 1. Encapsulate variants of Mastic behind a `MasticConfig` as we've done for other VDAFs. 2. Modify `prep_finish_from_shares()` to not take the aggregator ID. This is a relic of when we supported DAP-02, when this method may have been called by either the Leader or the Helper. Now it's always called by the Helper. 3. Implement state encoding for Mastic, as required by the new async Helper implementation. 4. Generalize the `prep_init()` function in `daphne::prio3` to be used for Mastic as well.
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