[pallas] Simplify GridMapping #22552
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`BlockSpec`, `GridSpec` and `PrefetchScalarGridSpec` are now simple dataclasses that just store the parameters passed from the API. They are then canonicalized and coverted to `BlocMapping` and `GridMapping`, which contains fewer optional metadata. In particular, `BlockMapping` is never `None`. This simplifies the rest of the code. `grid` now defaults to `()`. We add the `array_shape_dtype`, `source`, `index_map_avals`, `index_map_tree`, `num_inputs`, `num_outputs` to `BlockMapping`, it helps downstream. Now we do not need the `in_shapes` and `out_shapes` parameters to `pallas_call_p`, since it already has `grid_mapping`.OI Moved some of the logic for handling scalar prefetch and scratch shapes from `PrefetchScalarGridSpec.get_grid_mapping` to `GridSpec.get_grid_mapping`, and thus removed code duplication. Removed some dead code for implementing the interpret mode. Added test for the calling convention, including dynamic grid dimensions.
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