[UX] Rephrase service initialization timeout

[cblmemo]

The service initialization timeout is confusing with initial_delay_seconds. This PR rephrased to failed to register service to avoid such confusion.

$ sky serve up @temp/serve.yaml 
Service from YAML spec: @temp/serve.yaml
Service Spec:
Readiness probe method:           GET /
Readiness initial delay seconds:  1200
Replica autoscaling policy:       Fixed 1 replica        
Each replica will use the following resources (estimated):
I 02-17 07:55:20 optimizer.py:691] == Optimizer ==
I 02-17 07:55:20 optimizer.py:702] Target: minimizing cost
I 02-17 07:55:20 optimizer.py:714] Estimated cost: $0.4 / hour
I 02-17 07:55:20 optimizer.py:714] 
I 02-17 07:55:20 optimizer.py:837] Considered resources (1 node):
I 02-17 07:55:20 optimizer.py:907] ------------------------------------------------------------------------------------------------
I 02-17 07:55:20 optimizer.py:907]  CLOUD   INSTANCE          vCPUs   Mem(GB)   ACCELERATORS   REGION/ZONE     COST ($)   CHOSEN   
I 02-17 07:55:20 optimizer.py:907] ------------------------------------------------------------------------------------------------
I 02-17 07:55:20 optimizer.py:907]  AWS     m6i.2xlarge       8       32        -              us-east-1       0.38          ✔     
I 02-17 07:55:20 optimizer.py:907]  Azure   Standard_D8s_v5   8       32        -              eastus          0.38                
I 02-17 07:55:20 optimizer.py:907]  GCP     n2-standard-8     8       32        -              us-central1-a   0.39                
I 02-17 07:55:20 optimizer.py:907] ------------------------------------------------------------------------------------------------
I 02-17 07:55:20 optimizer.py:907] 
Launching a new service 'sky-service-8a75'. Proceed? [Y/n]: 
Launching controller for 'sky-service-8a75'...
I 02-17 07:55:30 cloud_vm_ray_backend.py:1421] To view detailed progress: tail -n100 -f /home/txia/sky_logs/sky-2024-02-17-07-55-21-715729/provision.log
I 02-17 07:55:30 cloud_vm_ray_backend.py:1332] Cluster 'sky-serve-controller-4a0782e9' (status: INIT) was previously launched in AWS us-east-1. Relaunching in that region.
I 02-17 07:55:31 provisioner.py:79] Launching on AWS us-east-1 (us-east-1a)
I 02-17 07:55:49 provisioner.py:454] Successfully provisioned or found existing instance.
I 02-17 07:56:15 provisioner.py:556] Successfully provisioned cluster: sky-serve-controller-4a0782e9
I 02-17 07:56:17 cloud_vm_ray_backend.py:4469] Processing file mounts.
I 02-17 07:56:17 cloud_vm_ray_backend.py:4501] To view detailed progress: tail -n100 -f ~/sky_logs/sky-2024-02-17-07-55-21-715729/file_mounts.log
I 02-17 07:56:17 backend_utils.py:1288] Syncing (to 1 node): /tmp/service-task-sky-service-8a75-jj4ckwaz -> ~/.sky/serve/sky_service_8a75/task.yaml.tmp
I 02-17 07:56:20 backend_utils.py:1288] Syncing (to 1 node): /tmp/tmp4hzxbl51 -> ~/.sky/serve/sky_service_8a75/config.yaml
I 02-17 07:56:22 cloud_vm_ray_backend.py:3209] Running setup on 1 node.
I 02-17 07:56:33 cloud_vm_ray_backend.py:3222] Setup completed.
I 02-17 07:56:42 cloud_vm_ray_backend.py:3319] Job submitted with Job ID: 1

E 02-17 07:57:45 subprocess_utils.py:84] ValueError: Failed to register service 'sky-service-8a75' on the SkyServe controller. Reason:
E 02-17 07:57:45 subprocess_utils.py:84] ValueError: No enabled clouds support opening ports. To fix: do not specify resources.ports, or enable a cloud that does support this feature.
E 02-17 07:57:45 subprocess_utils.py:84] Please try again later.
E 02-17 07:57:45 subprocess_utils.py:84] 
RuntimeError: Failed to spin up the service. Please check the logs above for more details.

Tested (run the relevant ones):

• Code formatting: bash format.sh
• Any manual or new tests for this PR (please specify below)
• All smoke tests: pytest tests/test_smoke.py
• Relevant individual smoke tests: pytest tests/test_smoke.py::test_fill_in_the_name
• Backward compatibility tests: bash tests/backward_comaptibility_tests.sh