Add export and calldata for Sophia smart contract verifier

[hanssv]

This PR adds two commands:

zkey export sophiaverifier    Creates a verifier in Sophia (only for Groth16/BLS12-381)
     Usage:  snarkjs zkesov [circuit_final.zkey] [verifier.aes]
...
zkey export sophiacalldata    Generates call parameters for verifier.aes. Add -cli for CLI compiler format.
     Usage:  snarkjs zkesoc [public.json] [proof.json]

They add support for exporting and producing calldata for Sophia smart contract verifier. Sophia as built-in primitives for BLS12-381 so the template is entirely straightforward.

The contract export is tested in sophia_smart_contract_tests/.