Support two tables join PPL command

[LantaoJin]

Description

This PR is the part 1 of supporting native join command. Check #2913 to get the whole implementation plan.
This PR includes

• In logical, support two-tables join PPL command with join type inner join, left join, semi join and anti join.
• In physical, support hash join operator for equi-join, nested loop join operator for non-equi-join

This PR not includes

• 1.2 Support multiple tables join in PPL #2921
• 1.3 Optimize Hash table to reduce memory usage. #2922
• 1.4 Extract join criteria from WHERE expression (equivalence set) #2923
• 1.5 Support join hint in PPL #2924
• 1.6 Support more join types (full outer, cross etc) #2919

Syntax introduced in this PR

source=t1 | [joinType] JOIN t2 ON joinCriteria

joinType: INNER | LEFT [OUTER] | [LEFT] SEMI | [LEFT] ANTI

For example:

source=websites
| inner join access_log on websites.id=access_log.site_id
| fields websites.id, websites.name, access_log.count, access_log.date

source=websites
| left outer join access_log on id=site_id
| fields id, name, count, date

Related Issues

Resolves #2920 (part of #2913)

Check List

• New functionality includes testing.
• New functionality has been documented.
• New functionality has javadoc added.
• New functionality has a user manual doc added.
• API changes companion pull request created.
• Commits are signed per the DCO using --signoff.
• Public documentation issue/PR created.

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[LantaoJin]

Current PR is ready for fundamental discussion. It contains basic implementation and unit tests.
Integration tests and full test coverage hasn't been done.