[SPARK-34620][SQL] Code-gen broadcast nested loop join (inner/cross)

### What changes were proposed in this pull request?

`BroadcastNestedLoopJoinExec` does not have code-gen, and we can potentially boost the CPU performance for this operator if we add code-gen for it. https://databricks.com/blog/2017/02/16/processing-trillion-rows-per-second-single-machine-can-nested-loop-joins-fast.html also showed the evidence in one fork.

The codegen for `BroadcastNestedLoopJoinExec` shared some code with `HashJoin`, and the interface `JoinCodegenSupport` is created to hold those common logic. This PR is only supporting inner and cross join. Other join types will be added later in followup PRs.

Example query and generated code:

```
val df1 = spark.range(4).select($"id".as("k1"))
val df2 = spark.range(3).select($"id".as("k2"))
df1.join(df2, $"k1" + 1 =!= $"k2").explain("codegen")
```

```
== Subtree 2 / 2 (maxMethodCodeSize:282; maxConstantPoolSize:203(0.31% used); numInnerClasses:0) ==
*(2) BroadcastNestedLoopJoin BuildRight, Inner, NOT ((k1#2L + 1) = k2#6L)
:- *(2) Project [id#0L AS k1#2L]
:  +- *(2) Range (0, 4, step=1, splits=2)
+- BroadcastExchange IdentityBroadcastMode, [id=#22]
   +- *(1) Project [id#4L AS k2#6L]
      +- *(1) Range (0, 3, step=1, splits=2)

Generated code:
/* 001 */ public Object generate(Object[] references) {
/* 002 */   return new GeneratedIteratorForCodegenStage2(references);
/* 003 */ }
/* 004 */
/* 005 */ // codegenStageId=2
/* 006 */ final class GeneratedIteratorForCodegenStage2 extends org.apache.spark.sql.execution.BufferedRowIterator {
/* 007 */   private Object[] references;
/* 008 */   private scala.collection.Iterator[] inputs;
/* 009 */   private boolean range_initRange_0;
/* 010 */   private long range_nextIndex_0;
/* 011 */   private TaskContext range_taskContext_0;
/* 012 */   private InputMetrics range_inputMetrics_0;
/* 013 */   private long range_batchEnd_0;
/* 014 */   private long range_numElementsTodo_0;
/* 015 */   private InternalRow[] bnlj_buildRowArray_0;
/* 016 */   private org.apache.spark.sql.catalyst.expressions.codegen.UnsafeRowWriter[] range_mutableStateArray_0 = new org.apache.spark.sql.catalyst.expressions.codegen.UnsafeRowWriter[4];
/* 017 */
/* 018 */   public GeneratedIteratorForCodegenStage2(Object[] references) {
/* 019 */     this.references = references;
/* 020 */   }
/* 021 */
/* 022 */   public void init(int index, scala.collection.Iterator[] inputs) {
/* 023 */     partitionIndex = index;
/* 024 */     this.inputs = inputs;
/* 025 */
/* 026 */     range_taskContext_0 = TaskContext.get();
/* 027 */     range_inputMetrics_0 = range_taskContext_0.taskMetrics().inputMetrics();
/* 028 */     range_mutableStateArray_0[0] = new org.apache.spark.sql.catalyst.expressions.codegen.UnsafeRowWriter(1, 0);
/* 029 */     range_mutableStateArray_0[1] = new org.apache.spark.sql.catalyst.expressions.codegen.UnsafeRowWriter(1, 0);
/* 030 */     range_mutableStateArray_0[2] = new org.apache.spark.sql.catalyst.expressions.codegen.UnsafeRowWriter(1, 0);
/* 031 */     bnlj_buildRowArray_0 = (InternalRow[]) ((org.apache.spark.broadcast.TorrentBroadcast) references[1] /* broadcastTerm */).value();
/* 032 */     range_mutableStateArray_0[3] = new org.apache.spark.sql.catalyst.expressions.codegen.UnsafeRowWriter(2, 0);
/* 033 */
/* 034 */   }
/* 035 */
/* 036 */   private void bnlj_doConsume_0(long bnlj_expr_0_0) throws java.io.IOException {
/* 037 */     for (int bnlj_arrayIndex_0 = 0; bnlj_arrayIndex_0 < bnlj_buildRowArray_0.length; bnlj_arrayIndex_0++) {
/* 038 */       UnsafeRow bnlj_buildRow_0 = (UnsafeRow) bnlj_buildRowArray_0[bnlj_arrayIndex_0];
/* 039 */
/* 040 */       long bnlj_value_1 = bnlj_buildRow_0.getLong(0);
/* 041 */
/* 042 */       long bnlj_value_4 = -1L;
/* 043 */
/* 044 */       bnlj_value_4 = bnlj_expr_0_0 + 1L;
/* 045 */
/* 046 */       boolean bnlj_value_3 = false;
/* 047 */       bnlj_value_3 = bnlj_value_4 == bnlj_value_1;
/* 048 */       boolean bnlj_value_2 = false;
/* 049 */       bnlj_value_2 = !(bnlj_value_3);
/* 050 */       if (!(false || !bnlj_value_2))
/* 051 */       {
/* 052 */         ((org.apache.spark.sql.execution.metric.SQLMetric) references[2] /* numOutputRows */).add(1);
/* 053 */
/* 054 */         range_mutableStateArray_0[3].reset();
/* 055 */
/* 056 */         range_mutableStateArray_0[3].write(0, bnlj_expr_0_0);
/* 057 */
/* 058 */         range_mutableStateArray_0[3].write(1, bnlj_value_1);
/* 059 */         append((range_mutableStateArray_0[3].getRow()).copy());
/* 060 */
/* 061 */       }
/* 062 */     }
/* 063 */
/* 064 */   }
/* 065 */
/* 066 */   private void initRange(int idx) {
/* 067 */     java.math.BigInteger index = java.math.BigInteger.valueOf(idx);
/* 068 */     java.math.BigInteger numSlice = java.math.BigInteger.valueOf(2L);
/* 069 */     java.math.BigInteger numElement = java.math.BigInteger.valueOf(4L);
/* 070 */     java.math.BigInteger step = java.math.BigInteger.valueOf(1L);
/* 071 */     java.math.BigInteger start = java.math.BigInteger.valueOf(0L);
/* 072 */     long partitionEnd;
/* 073 */
/* 074 */     java.math.BigInteger st = index.multiply(numElement).divide(numSlice).multiply(step).add(start);
/* 075 */     if (st.compareTo(java.math.BigInteger.valueOf(Long.MAX_VALUE)) > 0) {
/* 076 */       range_nextIndex_0 = Long.MAX_VALUE;
/* 077 */     } else if (st.compareTo(java.math.BigInteger.valueOf(Long.MIN_VALUE)) < 0) {
/* 078 */       range_nextIndex_0 = Long.MIN_VALUE;
/* 079 */     } else {
/* 080 */       range_nextIndex_0 = st.longValue();
/* 081 */     }
/* 082 */     range_batchEnd_0 = range_nextIndex_0;
/* 083 */
/* 084 */     java.math.BigInteger end = index.add(java.math.BigInteger.ONE).multiply(numElement).divide(numSlice)
/* 085 */     .multiply(step).add(start);
/* 086 */     if (end.compareTo(java.math.BigInteger.valueOf(Long.MAX_VALUE)) > 0) {
/* 087 */       partitionEnd = Long.MAX_VALUE;
/* 088 */     } else if (end.compareTo(java.math.BigInteger.valueOf(Long.MIN_VALUE)) < 0) {
/* 089 */       partitionEnd = Long.MIN_VALUE;
/* 090 */     } else {
/* 091 */       partitionEnd = end.longValue();
/* 092 */     }
/* 093 */
/* 094 */     java.math.BigInteger startToEnd = java.math.BigInteger.valueOf(partitionEnd).subtract(
/* 095 */       java.math.BigInteger.valueOf(range_nextIndex_0));
/* 096 */     range_numElementsTodo_0  = startToEnd.divide(step).longValue();
/* 097 */     if (range_numElementsTodo_0 < 0) {
/* 098 */       range_numElementsTodo_0 = 0;
/* 099 */     } else if (startToEnd.remainder(step).compareTo(java.math.BigInteger.valueOf(0L)) != 0) {
/* 100 */       range_numElementsTodo_0++;
/* 101 */     }
/* 102 */   }
/* 103 */
/* 104 */   protected void processNext() throws java.io.IOException {
/* 105 */     // initialize Range
/* 106 */     if (!range_initRange_0) {
/* 107 */       range_initRange_0 = true;
/* 108 */       initRange(partitionIndex);
/* 109 */     }
/* 110 */
/* 111 */     while (true) {
/* 112 */       if (range_nextIndex_0 == range_batchEnd_0) {
/* 113 */         long range_nextBatchTodo_0;
/* 114 */         if (range_numElementsTodo_0 > 1000L) {
/* 115 */           range_nextBatchTodo_0 = 1000L;
/* 116 */           range_numElementsTodo_0 -= 1000L;
/* 117 */         } else {
/* 118 */           range_nextBatchTodo_0 = range_numElementsTodo_0;
/* 119 */           range_numElementsTodo_0 = 0;
/* 120 */           if (range_nextBatchTodo_0 == 0) break;
/* 121 */         }
/* 122 */         range_batchEnd_0 += range_nextBatchTodo_0 * 1L;
/* 123 */       }
/* 124 */
/* 125 */       int range_localEnd_0 = (int)((range_batchEnd_0 - range_nextIndex_0) / 1L);
/* 126 */       for (int range_localIdx_0 = 0; range_localIdx_0 < range_localEnd_0; range_localIdx_0++) {
/* 127 */         long range_value_0 = ((long)range_localIdx_0 * 1L) + range_nextIndex_0;
/* 128 */
/* 129 */         // common sub-expressions
/* 130 */
/* 131 */         bnlj_doConsume_0(range_value_0);
/* 132 */
/* 133 */         if (shouldStop()) {
/* 134 */           range_nextIndex_0 = range_value_0 + 1L;
/* 135 */           ((org.apache.spark.sql.execution.metric.SQLMetric) references[0] /* numOutputRows */).add(range_localIdx_0 + 1);
/* 136 */           range_inputMetrics_0.incRecordsRead(range_localIdx_0 + 1);
/* 137 */           return;
/* 138 */         }
/* 139 */
/* 140 */       }
/* 141 */       range_nextIndex_0 = range_batchEnd_0;
/* 142 */       ((org.apache.spark.sql.execution.metric.SQLMetric) references[0] /* numOutputRows */).add(range_localEnd_0);
/* 143 */       range_inputMetrics_0.incRecordsRead(range_localEnd_0);
/* 144 */       range_taskContext_0.killTaskIfInterrupted();
/* 145 */     }
/* 146 */   }
/* 147 */
/* 148 */ }
```

### Why are the changes needed?

Improve query CPU performance. Added a micro benchmark query in `JoinBenchmark.scala`.
Saw 1x of run time improvement:

```
OpenJDK 64-Bit Server VM 11.0.9+11-LTS on Linux 4.14.219-161.340.amzn2.x86_64
Intel(R) Xeon(R) CPU E5-2670 v2  2.50GHz
broadcast nested loop join:                Best Time(ms)   Avg Time(ms)   Stdev(ms)    Rate(M/s)   Per Row(ns)   Relative
-------------------------------------------------------------------------------------------------------------------------
broadcast nested loop join wholestage off          62922          63052         184          0.3        3000.3       1.0X
broadcast nested loop join wholestage on           30946          30972          26          0.7        1475.6       2.0X
```

### Does this PR introduce _any_ user-facing change?

No.

### How was this patch tested?

* Added unit test in `WholeStageCodegenSuite.scala`, and existing unit tests for `BroadcastNestedLoopJoinExec`.
* Updated golden files for several TCPDS query plans, as whole stage code-gen for `BroadcastNestedLoopJoinExec` is triggered.
* Updated `JoinBenchmark-jdk11-results.txt ` and `JoinBenchmark-results.txt` with new benchmark result. Followed previous benchmark PRs - #27078 and #26003 to use same type of machine:

```
Amazon AWS EC2
type: r3.xlarge
region: us-west-2 (Oregon)
OS: Linux
```

Closes #31736 from c21/nested-join-exec.

Authored-by: Cheng Su <chengsu@fb.com>
Signed-off-by: Wenchen Fan <wenchen@databricks.com>

Author: c21

sql/core/benchmarks/JoinBenchmark-jdk11-results.txt

@@ -2,74 +2,81 @@
 Join Benchmark
 ================================================================================================
 
-OpenJDK 64-Bit Server VM 11.0.5+10-post-Ubuntu-0ubuntu1.118.04 on Linux 4.15.0-1044-aws
+OpenJDK 64-Bit Server VM 11.0.9+11-LTS on Linux 4.14.219-161.340.amzn2.x86_64
 Intel(R) Xeon(R) CPU E5-2670 v2 @ 2.50GHz
 Join w long:                              Best Time(ms)   Avg Time(ms)   Stdev(ms)    Rate(M/s)   Per Row(ns)   Relative
 ------------------------------------------------------------------------------------------------------------------------
-Join w long wholestage off                         4441           4572         185          4.7         211.8       1.0X
-Join w long wholestage on                          1409           1500          96         14.9          67.2       3.2X
+Join w long wholestage off                         3931           3998          95          5.3         187.4       1.0X
+Join w long wholestage on                          1507           1769         178         13.9          71.9       2.6X
 
-OpenJDK 64-Bit Server VM 11.0.5+10-post-Ubuntu-0ubuntu1.118.04 on Linux 4.15.0-1044-aws
+OpenJDK 64-Bit Server VM 11.0.9+11-LTS on Linux 4.14.219-161.340.amzn2.x86_64
 Intel(R) Xeon(R) CPU E5-2670 v2 @ 2.50GHz
 Join w long duplicated:                   Best Time(ms)   Avg Time(ms)   Stdev(ms)    Rate(M/s)   Per Row(ns)   Relative
 ------------------------------------------------------------------------------------------------------------------------
-Join w long duplicated wholestage off              5111           5116           7          4.1         243.7       1.0X
-Join w long duplicated wholestage on               1493           1518          22         14.0          71.2       3.4X
+Join w long duplicated wholestage off              5582           5617          50          3.8         266.2       1.0X
+Join w long duplicated wholestage on               1435           1451          19         14.6          68.4       3.9X
 
-OpenJDK 64-Bit Server VM 11.0.5+10-post-Ubuntu-0ubuntu1.118.04 on Linux 4.15.0-1044-aws
+OpenJDK 64-Bit Server VM 11.0.9+11-LTS on Linux 4.14.219-161.340.amzn2.x86_64
 Intel(R) Xeon(R) CPU E5-2670 v2 @ 2.50GHz
 Join w 2 ints:                            Best Time(ms)   Avg Time(ms)   Stdev(ms)    Rate(M/s)   Per Row(ns)   Relative
 ------------------------------------------------------------------------------------------------------------------------
-Join w 2 ints wholestage off                     171821         171906         121          0.1        8193.0       1.0X
-Join w 2 ints wholestage on                      166559         166975         263          0.1        7942.1       1.0X
+Join w 2 ints wholestage off                     171470         171478          11          0.1        8176.3       1.0X
+Join w 2 ints wholestage on                      166612         166762         123          0.1        7944.7       1.0X
 
-OpenJDK 64-Bit Server VM 11.0.5+10-post-Ubuntu-0ubuntu1.118.04 on Linux 4.15.0-1044-aws
+OpenJDK 64-Bit Server VM 11.0.9+11-LTS on Linux 4.14.219-161.340.amzn2.x86_64
 Intel(R) Xeon(R) CPU E5-2670 v2 @ 2.50GHz
 Join w 2 longs:                           Best Time(ms)   Avg Time(ms)   Stdev(ms)    Rate(M/s)   Per Row(ns)   Relative
 ------------------------------------------------------------------------------------------------------------------------
-Join w 2 longs wholestage off                      7511           7555          62          2.8         358.2       1.0X
-Join w 2 longs wholestage on                       3776           4119         232          5.6         180.1       2.0X
+Join w 2 longs wholestage off                      6065           6093          40          3.5         289.2       1.0X
+Join w 2 longs wholestage on                       3285           3375          97          6.4         156.7       1.8X
 
-OpenJDK 64-Bit Server VM 11.0.5+10-post-Ubuntu-0ubuntu1.118.04 on Linux 4.15.0-1044-aws
+OpenJDK 64-Bit Server VM 11.0.9+11-LTS on Linux 4.14.219-161.340.amzn2.x86_64
 Intel(R) Xeon(R) CPU E5-2670 v2 @ 2.50GHz
 Join w 2 longs duplicated:                Best Time(ms)   Avg Time(ms)   Stdev(ms)    Rate(M/s)   Per Row(ns)   Relative
 ------------------------------------------------------------------------------------------------------------------------
-Join w 2 longs duplicated wholestage off          13563          13617          77          1.5         646.7       1.0X
-Join w 2 longs duplicated wholestage on            7947           8053          71          2.6         378.9       1.7X
+Join w 2 longs duplicated wholestage off          14969          15027          82          1.4         713.8       1.0X
+Join w 2 longs duplicated wholestage on            7902           8151         406          2.7         376.8       1.9X
 
-OpenJDK 64-Bit Server VM 11.0.5+10-post-Ubuntu-0ubuntu1.118.04 on Linux 4.15.0-1044-aws
+OpenJDK 64-Bit Server VM 11.0.9+11-LTS on Linux 4.14.219-161.340.amzn2.x86_64
 Intel(R) Xeon(R) CPU E5-2670 v2 @ 2.50GHz
 outer join w long:                        Best Time(ms)   Avg Time(ms)   Stdev(ms)    Rate(M/s)   Per Row(ns)   Relative
 ------------------------------------------------------------------------------------------------------------------------
-outer join w long wholestage off                   3915           3923          12          5.4         186.7       1.0X
-outer join w long wholestage on                    1421           1461          30         14.8          67.8       2.8X
+outer join w long wholestage off                   2822           2823           1          7.4         134.6       1.0X
+outer join w long wholestage on                    1419           1436          19         14.8          67.7       2.0X
 
-OpenJDK 64-Bit Server VM 11.0.5+10-post-Ubuntu-0ubuntu1.118.04 on Linux 4.15.0-1044-aws
+OpenJDK 64-Bit Server VM 11.0.9+11-LTS on Linux 4.14.219-161.340.amzn2.x86_64
 Intel(R) Xeon(R) CPU E5-2670 v2 @ 2.50GHz
 semi join w long:                         Best Time(ms)   Avg Time(ms)   Stdev(ms)    Rate(M/s)   Per Row(ns)   Relative
 ------------------------------------------------------------------------------------------------------------------------
-semi join w long wholestage off                    2310           2332          30          9.1         110.2       1.0X
-semi join w long wholestage on                      835            860          34         25.1          39.8       2.8X
+semi join w long wholestage off                    1821           1832          15         11.5          86.8       1.0X
+semi join w long wholestage on                      828            853          36         25.3          39.5       2.2X
 
-OpenJDK 64-Bit Server VM 11.0.5+10-post-Ubuntu-0ubuntu1.118.04 on Linux 4.15.0-1044-aws
+OpenJDK 64-Bit Server VM 11.0.9+11-LTS on Linux 4.14.219-161.340.amzn2.x86_64
 Intel(R) Xeon(R) CPU E5-2670 v2 @ 2.50GHz
 sort merge join:                          Best Time(ms)   Avg Time(ms)   Stdev(ms)    Rate(M/s)   Per Row(ns)   Relative
 ------------------------------------------------------------------------------------------------------------------------
-sort merge join wholestage off                     1846           1886          56          1.1         880.5       1.0X
-sort merge join wholestage on                      1402           1654         234          1.5         668.3       1.3X
+sort merge join wholestage off                     1371           1380          13          1.5         653.7       1.0X
+sort merge join wholestage on                      1197           1244          37          1.8         570.9       1.1X
 
-OpenJDK 64-Bit Server VM 11.0.5+10-post-Ubuntu-0ubuntu1.118.04 on Linux 4.15.0-1044-aws
+OpenJDK 64-Bit Server VM 11.0.9+11-LTS on Linux 4.14.219-161.340.amzn2.x86_64
 Intel(R) Xeon(R) CPU E5-2670 v2 @ 2.50GHz
-sort merge join with duplicates:          Best Time(ms)   Avg Time(ms)   Stdev(ms)    Rate(M/s)   Per Row(ns)   Relative
-------------------------------------------------------------------------------------------------------------------------
-sort merge join with duplicates wholestage off           2852           2879          38          0.7        1360.0       1.0X
-sort merge join with duplicates wholestage on           2645           2742         156          0.8        1261.0       1.1X
+sort merge join with duplicates:                Best Time(ms)   Avg Time(ms)   Stdev(ms)    Rate(M/s)   Per Row(ns)   Relative
+------------------------------------------------------------------------------------------------------------------------------
+sort merge join with duplicates wholestage off           1920           1933          20          1.1         915.3       1.0X
+sort merge join with duplicates wholestage on            1871           1912          27          1.1         892.0       1.0X
 
-OpenJDK 64-Bit Server VM 11.0.5+10-post-Ubuntu-0ubuntu1.118.04 on Linux 4.15.0-1044-aws
+OpenJDK 64-Bit Server VM 11.0.9+11-LTS on Linux 4.14.219-161.340.amzn2.x86_64
 Intel(R) Xeon(R) CPU E5-2670 v2 @ 2.50GHz
 shuffle hash join:                        Best Time(ms)   Avg Time(ms)   Stdev(ms)    Rate(M/s)   Per Row(ns)   Relative
 ------------------------------------------------------------------------------------------------------------------------
-shuffle hash join wholestage off                   1506           1564          82          2.8         359.1       1.0X
-shuffle hash join wholestage on                    1303           1330          23          3.2         310.6       1.2X
+shuffle hash join wholestage off                   1102           1122          28          3.8         262.8       1.0X
+shuffle hash join wholestage on                     657            674          13          6.4         156.6       1.7X
+
+OpenJDK 64-Bit Server VM 11.0.9+11-LTS on Linux 4.14.219-161.340.amzn2.x86_64
+Intel(R) Xeon(R) CPU E5-2670 v2 @ 2.50GHz
+broadcast nested loop join:                Best Time(ms)   Avg Time(ms)   Stdev(ms)    Rate(M/s)   Per Row(ns)   Relative
+-------------------------------------------------------------------------------------------------------------------------
+broadcast nested loop join wholestage off          62922          63052         184          0.3        3000.3       1.0X
+broadcast nested loop join wholestage on           30946          30972          26          0.7        1475.6       2.0X