[CUDA] Partially support assertions and access out-of-bound checks on CUDA

[yuanming-hu]

Note that since we can't call vsnprintf on CUDA, access out of bound check messages would be unformatted: Accessing (%d, %d) out of bound...

[Click here for the format server]

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[archibate]

LGTMig + nits.

[codecov]

Codecov Report

Merging #1488 into master will increase coverage by 0.05%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##           master    #1488      +/-   ##
==========================================
+ Coverage   66.88%   66.94%   +0.05%     
==========================================
  Files          38       38              
  Lines        5433     5424       -9     
  Branches      956      956              
==========================================
- Hits         3634     3631       -3     
+ Misses       1636     1630       -6     
  Partials      163      163              

Impacted Files	Coverage Δ
python/taichi/lang/ops.py	93.12% <ø> (+0.27%)	⬆️
python/taichi/lang/util.py	64.70% <ø> (-0.21%)	⬇️
python/taichi/misc/error.py	14.28% <ø> (ø)
python/taichi/__init__.py	92.00% <100.00%> (+0.33%)	⬆️
python/taichi/lang/__init__.py	78.66% <100.00%> (ø)

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