[SPARK-31803][ML] Make sure instance weight is not negative

[huaxingao]

What changes were proposed in this pull request?

In the algorithms that support instance weight, add checks to make sure instance weight is not negative.

Why are the changes needed?

instance weight has to be >= 0.0

Does this PR introduce any user-facing change?

No

How was this patch tested?

Manually tested

[SparkQA]

Test build #123027 has finished for PR 28621 at commit 4ba0b1d.

• This patch fails due to an unknown error code, -9.
• This patch merges cleanly.
• This patch adds no public classes.

[huaxingao]

retest this please

[SparkQA]

Test build #123030 has finished for PR 28621 at commit 4ba0b1d.

• This patch passes all tests.
• This patch merges cleanly.
• This patch adds no public classes.

[srowen]

Looks generally fine if this consistently checks it in one place, and does so without generating more Spark jobs.

[srowen]

I was going to wonder if we should require weights to be positive, but I don't think we do now. I guess we tend to catch it when we check whether all weights are 0 (sum = 0).
BTW you can use string interpolation in these error messages.

[zhengruifeng]

nit: What about adding a checkNonNegative (double->double) udf in ml.functions and use it in .ml? I guess it maybe a little simpler.

[keypointt]

Nit: add a util common method to generate error string? Seems duplicated strings and will need to update each of them if any future changes :)

[SparkQA]

Test build #123078 has finished for PR 28621 at commit e1b4422.

• This patch fails Spark unit tests.
• This patch merges cleanly.
• This patch adds no public classes.

[srowen]

Weird, errors like org.scalatest.exceptions.TestFailedException: Expected [5.080000000000123,-0.600000000000043] and [-0.96,1.7] to be within 0.001 using absolute tolerance for all elements. Let me retest

[srowen]

Jenkins test this please

[SparkQA]

Test build #123088 has finished for PR 28621 at commit e1b4422.

• This patch fails Spark unit tests.
• This patch merges cleanly.
• This patch adds no public classes.

[SparkQA]

Test build #123094 has finished for PR 28621 at commit b2a2166.

• This patch passes all tests.
• This patch merges cleanly.
• This patch adds no public classes.

[srowen]

Merged to master

[huaxingao]

Thank you all!