Handle double-HTLC-claims without failing the backwards channel

Handle double-HTLC-claims without failing the backwards channel

When receiving an update_fulfill_htlc message, we immediately
forward the claim backwards along the payment path before waiting
for a full commitment_signed dance. This is great, but can cause
duplicative claims if a node sends an update_fulfill_htlc message,
disconnects, reconnects, and then has to re-send its
update_fulfill_htlc message again.

While there was code to handle this, it treated it as a channel
error on the inbound channel, which is incorrect - this is an
expected, albeit incredibly rare, condition. Instead, we handle
these double-claims correctly, simply ignoring them.

With debug_assertions enabled, we also check that the previous
close of the same HTLC was a fulfill, and that we are not moving
from a HTLC failure to an HTLC claim after its too late.

A test is also added, which hits all three failure cases in
`Channel::get_update_fulfill_htlc`.

Found by the chanmon_consistency fuzzer.