refactor: refactor cluster

[ZuLiangWang]

Which issue does this PR close?

Closes #145

Rationale for this change

As mentioned in the issue, refactor the current cluster module to achieve a more reliable cluster mode.

What changes are included in this PR?

1. Refactor scheduler module, based on the new interaction model, use scheduler to manage the creation of procedures.
2. Refactor procedure manager, support executing procedures in shard-level serial manner. (Need to support scenarios where one procedure is associated with multiple shards.)
3. Refactor all types of procedures to remove internal modifications to shard metadata and instead update them through heartbeat.

Are there any user-facing changes?

None.

How does this change test

Pass all unit tests and local integration test in CeresDB.

[codecov-commenter]

Codecov Report

Merging #157 (3e6d4e4) into main (494e15e) will increase coverage by 1.16%.
The diff coverage is 35.29%.

@@            Coverage Diff             @@
##             main     #157      +/-   ##
==========================================
+ Coverage   39.07%   40.24%   +1.16%     
==========================================
  Files          33       33              
  Lines        4217     4135      -82     
==========================================
+ Hits         1648     1664      +16     
+ Misses       2317     2236      -81     
+ Partials      252      235      -17     

Impacted Files	Coverage Δ
server/cluster/metadata/cluster_metadata.go	0.00% <0.00%> (ø)
server/cluster/metadata/table_manager.go	0.00% <0.00%> (ø)
server/cluster/metadata/topology_manager.go	0.00% <0.00%> (ø)
server/cluster/metadata/types.go	0.00% <0.00%> (ø)
server/coordinator/procedure/manager_impl.go	0.00% <0.00%> (ø)
server/coordinator/procedure/util.go	0.00% <0.00%> (-38.89%)	⬇️
server/etcdutil/util.go	45.45% <0.00%> (-6.79%)	⬇️
server/coordinator/factory.go	4.51% <4.51%> (ø)
server/storage/storage_impl.go	62.30% <40.00%> (-1.21%)	⬇️
server/storage/types.go	64.82% <43.33%> (-5.74%)	⬇️
... and 13 more

... and 2 files with indirect coverage changes

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[ShiKaiWi]

LGTM