refactor: Add assert_or_internal_err! macro for more ergonomic internal invariant checks

[2010YOUY01]

Which issue does this PR close?

• Closes Support macro ensure_or_internal_err to clean up repeated sanity checks #15492

Rationale for this change

See issue for the rationale and example.

This PR introduces the following macros to make invariant checks and throwing internal errors easier, and also let the error message include more assertion details if it failed (what's the expected/actual value), to make debugging easier.

• assert_or_internal_err!()
• assert_eq_or_internal_err!()
• assert_ne_or_internal_err!()

// before
if field.name() != expected.name() {
    return internal_err!(
        "Field name mismatch at index {}: expected '{}', found '{}'",
        idx,
        expected.name(),
        field.name()
    );
}

// after
assert_eq_or_internal_err!(
    field.name(),
    expected.name(),
    "Field name mismatch at index {}",
    idx
);

If the assertion fails, the error now reads:

Internal error: Assertion failed: field.name() == expected.name() (left: "foo", right: "bar"): Field name mismatch at index 3.

What changes are included in this PR?

1. Add macros and UTs to test
2. Updated a few internal error patterns that are applicable for this macro

Are these changes tested?

UTs

Are there any user-facing changes?

No

[alamb]

Thanks @2010YOUY01 -- this looks like an improvement to me ❤️

[Weijun-H]

LGTM! Thanks @2010YOUY01

[2010YOUY01]

Thanks @alamb and @Weijun-H, I'll open issues for refactoring with this macro soon.