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This also removes the double use of the name 'wp_fork' in both
program_logic/weakestpre and heap_lang/lifting.

This generalization is surprisingly easy in Iris 3.0, so I could not
resist not doing it :).

This commit features:

- A simpler model. The recursive domain equation no longer involves a triple
  containing invariants, physical state and ghost state, but just ghost state.
  Invariants and physical state are encoded using (higher-order) ghost state.

- (Primitive) view shifts are formalized in the logic and all properties about
  it are proven in the logic instead of the model. Instead, the core logic
  features only a notion of raw view shifts which internalizing performing frame
  preserving updates.

- A better behaved notion of mask changing view shifts. In particular, we no
  longer have side-conditions on transitivity of view shifts, and we have a
  rule for introduction of mask changing view shifts |={E1,E2}=> P with
  E2 ⊆ E1 which allows to postpone performing a view shift.

- The weakest precondition connective is formalized in the logic using Banach's
  fixpoint. All properties about the connective are proven in the logic instead
  of directly in the model.

- Adequacy is proven in the logic and uses a primitive form of adequacy for
  uPred that only involves raw views shifts and laters.

Some remarks:

- I have removed binary view shifts. I did not see a way to describe all rules
  of the new mask changing view shifts using those.
- There is no longer the need for the notion of "frame shifting assertions" and
  these are thus removed. The rules for Hoare triples are thus also stated in
  terms of primitive view shifts.

TODO:

- Maybe rename primitive view shift into something more sensible
- Figure out a way to deal with closed proofs (see the commented out stuff in
  tests/heap_lang and tests/barrier_client).

The intropattern {H} also meant clear (both in ssreflect, and the logic
part of the introduction pattern).

Lifting lemmas : make the initial state appear under an existential under the view shift. This is still sound, but slightly more expressive.

Concretely, when execution of any of the wp_ tactics does not yield
another wp, it will make sure that a view shift is kept. This
behavior was already partially there, but now it is hopefully more
consistent.

be the same as ↔.

This is a fairly intrusive change, but at least makes notations more
consistent, and often shorter because fewer parentheses are needed. Note
that viewshifts already had the same precedence as →.

That way, we do not have useless type annotations of the form
"v : language.val heap_lang" cluttering about any goal.

Note, that we could decide to eta expand everywhere (as we do for ∀
and ∃), and use the notation "WP e {{ Q }}" for "wp e ⊤ (λ _, Q)".

and show that this is an instance of evaluation contexts

Just because we don't have such comments for other files, doesn't mean we can't
start applying some best practices.

This required a new ectx axiom: Positivity of evaluation contexts. This axiom was
also present in the old Iris 1.1 development, back when it still derived lifting
axioms for ectx languages.