Created by: chenwhql

We have started to practice the error message writing specification now, in order to avoid the increase of invalid PADDLE_ENFORCE, cherry-pick the related PRs to 1.6.

cherry-pick PRs:

• cf4062b change cuda enforce & add example (#21142)
• b1e3f893 Add dependency for error_codes.proto (#21084)
• feef5f31 Enrich the type of error and declare the error type interfaces (#21024)
• b9e6c815 Polish and arrange code in enforce.h (#20901)
• 1ef61f81 delete paddle infershape enforce marco (#20832)