feat(minReadySeconds): support minReadySeconds for PD

[csuzhangxc]

What problem does this PR solve?

ref pingcap/tiup#2461

closes #5764

also ref #4675

The better method is to check whether if PD is ready via an API from PD (in later versions)

What is changed and how does it work?

Code changes

• Has Go code change
• Has CI related scripts change

Tests

• Unit test
• E2E test
• Manual test
• No code

# tidb.pingcap.com/pd-min-ready-seconds: 180

basic-pd-0                         1/1     Running   1 (66m ago)   66m
basic-pd-1                         1/1     Running   1 (70m ago)   70m
basic-pd-2                         1/1     Running   1 (74m ago)   74m

Side effects

• Breaking backward compatibility
• Other side effects:

Related changes

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

Release Notes

Please refer to Release Notes Language Style Guide before writing the release note.

[csuzhangxc]

/cherry-pick release-1.6

[ti-chi-bot]

@csuzhangxc: once the present PR merges, I will cherry-pick it on top of release-1.6 in the new PR and assign it to you.

In response to this:

/cherry-pick release-1.6

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[csuzhangxc]

/cherry-pick release-1.5

[ti-chi-bot]

@csuzhangxc: once the present PR merges, I will cherry-pick it on top of release-1.5 in the new PR and assign it to you.

In response to this:

/cherry-pick release-1.5

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[csuzhangxc]

/run-pull-e2e-kind-basic

[codecov-commenter]

Codecov Report

Attention: Patch coverage is 46.15385% with 7 lines in your changes missing coverage. Please review.

Project coverage is 21.06%. Comparing base (9ef26f8) to head (211d3cc).
Report is 35 commits behind head on master.

❗ There is a different number of reports uploaded between BASE (9ef26f8) and HEAD (211d3cc). Click for more details.

HEAD has 1 upload less than BASE

Flag	BASE (9ef26f8)	HEAD (211d3cc)
unittest	1	0

Additional details and impacted files

@@             Coverage Diff             @@
##           master    #5827       +/-   ##
===========================================
- Coverage   61.47%   21.06%   -40.42%     
===========================================
  Files         235      219       -16     
  Lines       30653    30976      +323     
===========================================
- Hits        18843     6524    -12319     
- Misses       9920    23464    +13544     
+ Partials     1890      988      -902     

Flag	Coverage Δ
e2e	21.06% <46.15%> (?)
unittest	?

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[ti-chi-bot]

[APPROVALNOTIFIER] This PR is NOT APPROVED

This pull-request has been approved by: fgksgf
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[ti-chi-bot]

@csuzhangxc: new pull request created to branch release-1.6: #5830.

In response to this:

/cherry-pick release-1.6

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[ti-chi-bot]

@csuzhangxc: new pull request created to branch release-1.5: #5831.

In response to this:

/cherry-pick release-1.5

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