[Draft] Major cleanup, simplifies a lot of logic

Tasks:

[ ] Rename environment variables
[ ] Have separate env files for the different services (possibly just use a better configuration pattern)
[ ] Push all defaults into the service classes instead of the exec files
[ ] Have the exec files just be run as typescript so we don't need to build every time
[ ] Make message relayer use the utilities that the fraud prover already uses
[ ] Add comments to message relayer
[ ] Add comments to utilities

ethereum-optimism / optimism-ts-services