This PR makes the following changes over TVMScript printer:

1. Apply the new TVMScript printer to report and render the schedule error, and keeps effect same as old `AsTVMScriptWithDiagnostic`.
2. Introduce more annotating and underlining interfaces for TVMScript ptrinter
    - `obj_to_annotate`: add comments to the final `StmtDoc` from `ObjectRef`
    - `obj_to_underline`: underline the final `Doc` from `ObjectRef`
    - `path_to_annotate`: add comments to the final `StmtDoc` from `ObjectPath`
3. Beautify the underline logic by introducing the `underline_exempted`, to exempt some useless underlines, e.g. indent, comments and doc string.

demo:
1. `*_to_annotate`: for function:
```python
@T.prim_func
def _func():
  T.evaluate(0)
  T.evaluate(1)
  T.evaluate(2)
  T.evaluate(3)
  T.evaluate(4)
  T.evaluate(5)
  T.evaluate(6)
  T.evaluate(7)
```
both the results of 
```python
_func.script(
  path_to_annotate={
    ObjectPath.root().attr("body").attr("seq").array_index(1): "annotation 1",
    ObjectPath.root().attr("body").attr("seq").array_index(3): "annotation 3",
    ObjectPath.root().attr("body").attr("seq").array_index(5): "annotation 5",
    ObjectPath.root().attr("body").attr("seq").array_index(7): "annotation 7",
  }
)
```
and
```python
_func.script(
  obj_to_annotate={
    _func.body.seq[1]: "annotation 1",
    _func.body.seq[3]: "annotation 3",
    _func.body.seq[5]: "annotation 5",
    _func.body.seq[7]: "annotation 7",
  }
)
```
are
```python
# from tvm.script import tir as T
@T.prim_func
def main():
  T.evaluate(0)
  T.evaluate(1)  # annotation 1
  T.evaluate(2)
  T.evaluate(3)  # annotation 3
  T.evaluate(4)
  T.evaluate(5)  # annotation 5
  T.evaluate(6)
  T.evaluate(7)  # annotation 7
```
2. `obj_to_underline`: for function
```python
@T.prim_func
def func(a: T.int32, b: T.int32):
  T.evaluate(a)
  T.evaluate(b)
  T.evaluate(a)
  T.evaluate(b)
  T.evaluate(a)
  T.evaluate(b)
```
the result of `func.script(obj_to_underline=[func.params[0]])` is
```python
# from tvm.script import tir as T
@T.prim_func
def main(a: T.int32, b: T.int32):
  T.evaluate(a)
             ^
  T.evaluate(b)
  T.evaluate(a)
             ^
  T.evaluate(b)
  T.evaluate(a)
             ^
  T.evaluate(b)
```