ScheduleBlock 2/4 - add Call instruction

[nkanazawa1989]

Summary

This is 2/4 step of ScheduleBlock implementation #5679

Details and comments

This PR adds Call instruction to pulse instruction set. This instruction is not exposed to end users. However, it implicitly wraps schedules or circuits when pulse.call function is used within the pulse builder context. The Call instruction explicitly defines a subroutine that is defined outside of the current scope, thus the Qiskit compiler will be able to generate better target code, i.e. the compiler can avoid defining duplicated subprograms multiple times. The logic of the pulse builder is slightly updated to introduce this instruction.

[nkanazawa1989]

Thanks, I updated docstrings accordingly, and updated the logic of call function. Now we can handle parameters as kwargs at the builder level, i.e.

with pulse.build() as sched:
   pulse.call(subroutine, amp=0.1, sigma=40, ...)

[nkanazawa1989]

@taalexander Thanks! I updated parameter handling based on your suggestion.