This MR is a follow up on the renamings performed (implicitly) as part of
!215. This MR makes the following changes:

- `auth_both_frac_valid` and `auth_both_valid` are now of the same shape
  as `auth_both_frac_validN` and `auth_both_validN`. That is, both are
  now biimplications.
- The left-to-right  direction of `auth_both_frac_valid` and
  `auth_both_valid` only holds in case the camera is discrete. The
  right-to-left versions for non-discrete cameras are prefixed `_2`, the
  convention that we use throughout the development.
- Change the direction of lemmas like `auth_frag_valid` and
  `auth_auth_valid` so that it's consistent with the other lemmas. I.e.
  make sure that the ◯ and ● are always on the LHS of the biimplication.

We add a specific constructor to the type of expressions for injecting
values in expressions.

The advantage are :
- Values can be assumed to be always closed when performing
  substitutions (even though they could contain free variables, but it
  turns out it does not cause any problem in the proofs in
  practice). This means that we no longer need the `Closed` typeclass
  and everything that comes with it (all the reflection-based machinery
  contained in tactics.v is no longer necessary). I have not measured
  anything, but I guess this would have a significant performance
  impact.

- There is only one constructor for values. As a result, the AsVal and
  IntoVal typeclasses are no longer necessary: an expression which is
  a value will always unify with `Val _`, and therefore lemmas can be
  stated using this constructor.

Of course, this means that there are two ways of writing such a thing
as "The pair of integers 1 and 2": Either by using the value
constructor applied to the pair represented as a value, or by using
the expression pair constructor. So we add reduction rules that
transform reduced pair, injection and closure expressions into values.
At first, this seems weird, because of the redundancy. But in fact,
this has some meaning, since the machine migth actually be doing
something to e.g., allocate the pair or the closure.

These additional steps of computation show up in the proofs, and some
additional wp_* tactics need to be called.

`sed -i 's/frag_auth_op/frac_auth_frag_op/g' $(find -name "*.v")`

We used to normalize the goal, and then checked whether it was of
a certain shape. Since `uPred_valid P` normalized to `True ⊢ P`,
there was no way of making a distinction between the two, hence
`True ⊢ P` was treated as `uPred_valid P`.

In this commit, I use type classes to check whether the goal is of
a certain shape. Since we declared `uPred_valid` as `Typeclasses
Opaque`, we can now make a distinction between `True ⊢ P` and
`uPred_valid P`.

This patch was created using

  find -name *.v | xargs -L 1 awk -i inplace '{from = 0} /^From/{ from = 1; ever_from = 1} { if (from == 0 && seen == 0 && ever_from == 1) { print "Set Default Proof Using \"Type*\"."; seen = 1 } }1 '

and some minor manual editing

The WP construction now takes an invariant on states as a parameter
(part of the irisG class) and no longer builds in the authoritative
ownership of the entire state. When instantiating WP with a concrete
language on can choose its state invariant. For example, for heap_lang
we directly use `auth (gmap loc (frac * dec_agree val))`, and avoid
the indirection through invariants entirely.

As a result, we no longer have to carry `heap_ctx` around.

The old choice for ★ was a arbitrary: the precedence of the ASCII asterisk *
was fixed at a wrong level in Coq, so we had to pick another symbol. The ★ was
a random choice from a unicode chart.

The new symbol ∗ (as proposed by David Swasey) corresponds better to
conventional practise and matches the symbol we use on paper.

This should make theme asier to parse, "{{{ v, v; l |-> v }}}" looks rather funny.

Now we try to avoid adding them unnecessarily, so we don't have to remove them automatically any more.

There are now two proof mode tactics for dealing with modalities:

- `iModIntro` : introduction of a modality
- `iMod pm_trm as (x1 ... xn) "ipat"` : eliminate a modality

The behavior of these tactics can be controlled by instances of the `IntroModal`
and `ElimModal` type class. We have declared instances for later, except 0,
basic updates and fancy updates. The tactic `iMod` is flexible enough that it
can also eliminate an updates around a weakest pre, and so forth.

The corresponding introduction patterns of these tactics are `!>` and `>`.

These tactics replace the tactics `iUpdIntro`, `iUpd` and `iTimeless`.

Source of backwards incompatability: the introduction pattern `!>` is used for
introduction of arbitrary modalities. It used to introduce laters by stripping
of a later of each hypotheses.

And also rename the corresponding proof mode tactics.