This PR implements this proposal: noir-lang/noir#4239 (comment)

• Removes legacy dynamic assertions via calling brillig + oracle
• Removes legacy oracle handling for assertions
• Frontend adds the HirType in the ConstrainError instead of embedding metadata about it in the program logic.
• Constrain instruction in SSA now has Values for payload
• SSA gen generates an error selector from the payload type
• ACIR gen and Brillig gen handle the payload ValueIds and error selector
• ABI has now error_types for non-string errors
• ACVM now resolves the payload for non-constant AssertionPayloads
• Nargo decodes the error for non-string errors using the ABI, allowing use in nargo tests

Things to do in a followup PR:

• Add an entry point in noirc_abi_wasm that allows decoding a given Raw (non-string) using the ABI in the same way that nargo does.