feature: saga support parallel execution with multiple states

[anselleeyy]

• I have registered the PR changes.

Ⅰ. Describe what this PR did

Saga 新增并发State节点，支持配置多个需要并发执行的state，并发执行的State支持 ServiceTask、SubStateMachine、ScriptTask，整体能力参考Loop循环属性的实现

• 新增统一的并发处理层 (ParallelStateHandler) 用于对Parallel的节点类型，统一进行并发任务的预处理和任务分发，通过信号量 (Semaphore) 进行并发控制
• 并发执行过程中，每一个节点都会有一个索引（取决于branches的配置顺序），比如：FirstState-parallel-0-branchStateName，便于在重试或补偿时，恢复上下文使用
• 新增 ParallelTaskInterceptor，主要用于对并发执行时的异常后置处理
  • postprocess:
    • 异常时，记录 exp 信息到上下文中，同时释放信号量，并置全局并发状态为失败（failEnd）
• 并发节点本身不支持配置循环属性
  • 希望使用循环属性时，可通过在分支节点上配置Loop属性，来达到对部分或所有的并发分支节点进行循环执行的诉求

在seata-saga-designer中，考虑到设计及简易性，增加了ParallelStart和ParallelEnd来标识并发的开始与结束，由DesignerJsonTransformer来统一处理并发场景下的json转换，设计器的demo可以参考下图

Ⅱ. Does this pull request fix one issue?

fixes #4351

Ⅲ. Why don't you add test cases (unit test/integration test)?

Ⅳ. Describe how to verify it

Ⅴ. Special notes for reviews

[anselleeyy]

@long187 help to review this feature

[long187]

考虑一下设计器怎么画并发任务

[codecov-commenter]

Codecov Report

Merging #4349 (c2cdc04) into develop (4c88984) will increase coverage by 0.11%.
The diff coverage is 62.02%.

📣 This organization is not using Codecov’s GitHub App Integration. We recommend you install it so Codecov can continue to function properly for your repositories. Learn more

@@              Coverage Diff              @@
##             develop    #4349      +/-   ##
=============================================
+ Coverage      48.67%   48.79%   +0.11%     
- Complexity      3973     3989      +16     
=============================================
  Files            733      735       +2     
  Lines          25155    25229      +74     
  Branches        3085     3099      +14     
=============================================
+ Hits           12245    12310      +65     
- Misses         11596    11599       +3     
- Partials        1314     1320       +6     

Impacted Files	Coverage Δ
.../saga/statelang/domain/impl/ParallelStateImpl.java	0.00% <0.00%> (ø)
...statelang/parser/impl/ParallelTaskStateParser.java	6.25% <6.25%> (ø)
...tatelang/parser/utils/DesignerJsonTransformer.java	63.15% <88.67%> (+8.49%)	⬆️
...eata/saga/statelang/parser/StateParserFactory.java	92.30% <100.00%> (+0.64%)	⬆️

... and 3 files with indirect coverage changes

[lgtm-com]

This pull request fixes 1 alert when merging 1616cea into b62f03e - view on LGTM.com

fixed alerts:

• 1 for Dereferenced variable may be null

[long187]

设计器中，ParallelStart和ParallelEnd 用 菱形并换个颜色。可以参考bpmn是图形

[long187]

设计器，编译命令npm install在有些版本的npm好像有问题，可以加上--legacy-peer-deps参数解决，并npm build有也版本也不识别要改成npm run install，在设计器的README上加一下吧。

[lgtm-com]

This pull request fixes 1 alert when merging cfe2a2b into 4622746 - view on LGTM.com

fixed alerts:

• 1 for Dereferenced variable may be null

[lgtm-com]

This pull request fixes 1 alert when merging c2cdc04 into 4c88984 - view on LGTM.com

fixed alerts:

• 1 for Dereferenced variable may be null

[CLAassistant]

All committers have signed the CLA.

[CLAassistant]

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0 out of 2 committers have signed the CLA.

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❌ anselleeyy
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[wt-better]

探讨下哈，以ParallelState方式标记并行，用户需要再JSON里面声明ParallelStateStart，我理解是否可以在State级别支持多Next节点，框架内部构建多个水平执行数，相同层级的并发执行，这样对用户更加友好。

[anselleeyy]

探讨下哈，以ParallelState方式标记并行，用户需要再JSON里面声明ParallelStateStart，我理解是否可以在State级别支持多Next节点，框架内部构建多个水平执行数，相同层级的并发执行，这样对用户更加友好。

@wt-better ParallelStart和ParallelEnd节点，主要是考虑到在设计器中画并发任务时，能够清晰看到并发任务的开始和结束；在实际的json配置文件和并发处理的代码实现中，并不存在这2个节点

[wt-better]

• 并行节点 多loop 分支节点的 loopResult可能会覆盖

• 并行节点 多分支，单loop分支_is_loop_state_上下文传递，可能会导致非loop节点route null问题

• loop实现目前是死等，可以优化成事件处理，loop执行完成之后push next

• 并行节点里面如果还有并行，需要判断下上下文传递这里，是否支持

[wt-better]

thank for you request, and this feature was designed and implementation by https://github.com/seata/seata/pull/5847 .
parallel was design fork-join and fix above question.