Remove dependencies from TaskExecutionSpecification

[edoakes]

What do these changes do?

Removes the dependencies field from TaskExecutionSpecification in favor of a new PreviousActorTaskDummyObjectId field in TaskSpecification.

This was an artifact left over from a previous design, and the dependencies were never actually updated during runtime. Rather, it was only used to specify dependencies for actor tasks on the previously run actor task. Now, there is a dedicated field for this use case that is only specified as part of actor task submissions.

The change has a nice byproduct of simplifying the task submission interfaces in the core worker.

Related issue number

Linter

• I've run scripts/format.sh to lint the changes in this PR.

[edoakes]

Note that this touches many of the same files as #5147

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[edoakes]

Updated to rebase off of the changes merged in #5147

[stephanie-wang]

A few tiny things, but looks great!

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[stephanie-wang]

Thanks, looks good!

Please try to avoid force-pushing in the future, as it makes it hard to see what the new changes are.

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[pcmoritz]

This is almost ready, there is another Travis error:

Use --sandbox_debug to see verbose messages from the sandbox
src/ray/raylet/lib/java/org_ray_runtime_raylet_RayletClientImpl.cc: In function 'void Java_org_ray_runtime_raylet_RayletClientImpl_nativeSubmitTask(JNIEnv*, jclass, jlong, jbyteArray, jbyteArray)':
src/ray/raylet/lib/java/org_ray_runtime_raylet_RayletClientImpl.cc:78:76: error: no matching function for call to 'RayletClient::SubmitTask(std::vector<ray::ObjectID>&, ray::TaskSpecification&)'
   auto status = raylet_client->SubmitTask(execution_dependencies, task_spec);
                                                                            ^
In file included from src/ray/raylet/lib/java/org_ray_runtime_raylet_RayletClientImpl.cc:6:0:
src/ray/raylet/raylet_client.h:85:15: note: candidate: ray::Status RayletClient::SubmitTask(const ray::TaskSpecification&)
   ray::Status SubmitTask(const ray::TaskSpecification &task_spec);
               ^
src/ray/raylet/raylet_client.h:85:15: note:   candidate expects 1 argument, 2 provided
INFO: Elapsed time: 327.299s, Critical Path: 26.18s
INFO: 2021 processes: 1947 remote cache hit, 73 linux-sandbox, 1 worker.
FAILED: Build did NOT complete successfully
FAILED: Build did NOT complete successfully

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