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Use Custom Errors Instead of Revert Strings (#255)

This PR changes the module to use custom errors instead of revert
strings.

Previously, the entry point contract v0.6 had special support for revert
strings for improving debuggability of signature validation errors.
However, since v0.7, this is no longer the case, so we should use custom
errors in order to allow better error context and smaller bytecode.

This PR is adapted from #247, and modified to target the
`entrypoint-v0.7` branch.

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