Support replay command to enhance checkpoint

[lucklove]

What problem does this PR solve?

In #1069, we support checkpoint, however, the user must guarantee the inpute command is exactly identical with the one before, which is not comfortable.

What is changed and how it works?

Introduce tiup cluster replay and tiup dm replay commands, which need only one argument: the audit id. And we will found the previous command and replay it via the audit id.

Check List

Tests

• Integration test

Code changes

• Has exported function/method change
• Has exported variable/fields change
• Has interface methods change
• Has persistent data change

Side effects

• Possible performance regression
• Increased code complexity
• Breaking backward compatibility

Related changes

• Need to cherry-pick to the release branch
• Need to update the documentation

Release notes:

NONE

[codecov-io]

Codecov Report

Merging #1157 (a73c32e) into master (f8a7bfa) will decrease coverage by 4.45%.
The diff coverage is 46.75%.

@@            Coverage Diff             @@
##           master    #1157      +/-   ##
==========================================
- Coverage   52.32%   47.86%   -4.46%     
==========================================
  Files         286      288       +2     
  Lines       20341    20396      +55     
==========================================
- Hits        10643     9763     -880     
- Misses       8026     8954     +928     
- Partials     1672     1679       +7     

Flag	Coverage Δ
cluster	45.03% <57.14%> (+2.01%)	⬆️
dm	25.72% <41.07%> (+0.01%)	⬆️
integrate	47.86% <46.75%> (+1.51%)	⬆️
playground	2.93% <ø> (ø)
tiup	16.36% <0.00%> (-0.04%)	⬇️
unittest	?

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
pkg/cluster/operation/operation.go	78.26% <ø> (ø)
components/dm/command/replay.go	15.00% <15.00%> (ø)
components/cluster/command/replay.go	45.00% <45.00%> (ø)
pkg/cluster/audit/audit.go	61.11% <60.00%> (-2.36%)	⬇️
pkg/checkpoint/checkpoint.go	70.12% <75.00%> (-8.25%)	⬇️
components/cluster/command/root.go	46.74% <100.00%> (-0.08%)	⬇️
components/dm/command/root.go	56.80% <100.00%> (+0.98%)	⬆️
pkg/logger/audit.go	53.33% <100.00%> (ø)
components/dm/ansible/worker.go	0.00% <0.00%> (-100.00%)	⬇️
pkg/meta/err.go	0.00% <0.00%> (-81.25%)	⬇️
... and 63 more

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