[Feature] Import PyTorch's CUDA stream management (dmlc#4503)

* add set_stream

* add .record_stream for NDArray and HeteroGraph

* refactor dgl stream Python APIs

* test record_stream

* add unit test for record stream

* use pytorch's stream

* fix lint

* fix cpu build

* address comments

* address comments

* add record stream tests for dgl.graph

* record frames and update dataloder

* add docstring

* update frame

* add backend check for record_stream

* remove CUDAThreadEntry::stream

* record stream for newly created formats

* fix bug

* fix cpp test

* fix None c_void_p to c_handle

temporarily removing for 0.9.x due to ux changes

update version

update version

update version

Merge branch 'master' into 0.8.x

update branch

Fix openmp header (dmlc#3325)

fix (dmlc#3286)

Remove redundant fill in SPMM kernel (dmlc#3166)

* remove redundant fill

* trigger ci