fix: taskmanager ha reconnect

[vagetablechicken]

closes #3620

After fix, tm can close and connect again when zk connection broken. And after reconnect, tm should try to become master. So add a thread for connection and master check.

[codecov]

Codecov Report

Attention: 256 lines in your changes are missing coverage. Please review.

Comparison is base (a8c0226) 40.16% compared to head (8dc2dc1) 74.89%.
Report is 1 commits behind head on main.

Files	Patch %	Lines
...adigm/openmldb/taskmanager/zk/FailoverWatcher.java	0.00%	140 Missing ⚠️
...aradigm/openmldb/taskmanager/zk/ZooKeeperUtil.java	0.00%	65 Missing ⚠️
.../openmldb/taskmanager/zk/RecoverableZooKeeper.java	0.00%	48 Missing ⚠️
...openmldb/taskmanager/server/TaskManagerServer.java	0.00%	3 Missing ⚠️

Additional details and impacted files

@@              Coverage Diff              @@
##               main    #3668       +/-   ##
=============================================
+ Coverage     40.16%   74.89%   +34.72%     
- Complexity      640      642        +2     
=============================================
  Files           191      725      +534     
  Lines         11233   130849   +119616     
  Branches       1325     1334        +9     
=============================================
+ Hits           4512    98000    +93488     
- Misses         6428    32556    +26128     
  Partials        293      293               

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