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Add type check (#938)

* add core types and type checking function

* fix unit test bug

* avoid defining dynamic classes

* typo fix

* add component metadata format

* add a construct for the component decorator

* add default values for the meta classes

* add input/output types to the metadata

* add from_dict in TypeMeta

* small fix

* add unit tests

* use python struct for the openapi schema

* add default in parameter

* add default value

* remove the str restriction for the param default

* bug fix

* add pipelinemeta

* add pipeline metadata

* ignore annotation if it is not str/BaseType/dict

* update param name in the check_type functions
remove schema validators for GCRPath, and adjust for GCRPath, GCSPath
change _check_valid_dict to _check_valid_type_dict to avoid confusion
fix typo in the comments
adjust function order for readability

* remove default values for non-primitive types in the function signature
update the _check_valid_type_dict name

* pass metadata from component decorator and task factory to containerOp

* pass pipeline metadata to Pipeline

* fix unit test

* typo in the comments

* move the metadata classes to a separate module

* fix unit test

* small change

* add __eq__ to meta classes
not export _metadata classes

* nothing

* fix unit test

* unit test python component

* unit test python pipeline

* fix bug: duplicate variable of args

* fix unit tests

* move python_component and _component decorator in _component file

* remove the print

* change parameter default value to None

* add functools wraps around _component decorator

* TypeMeta accept both str and dict

* fix indent, add unit test for type as strings

* do not set default value for the name field in ParameterMeta, ComponentMeta, and PipelineMeta

* add type check in task factory

* output error message

* add type check in component decorator; move the metadata assignment out of the containerop __init__ function

* fix bug; add unit test

* add ... (continued)

1397 of 1566 branches covered (89.21%)

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2477 of 2600 relevant lines covered (95.27%)

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