MDEV-17187 table doesn't exist in engine after ALTER of FOREIGN KEY

ha_innobase::open(): Always ignore problems with FOREIGN KEY constraints
(pass DICT_ERR_IGNORE_FK_NOKEY), no matter whether foreign_key_checks
is enabled. Instead, we must report errors when enforcing the FOREIGN KEY
constraints. As a result of ignoring these errors, the tables will be
loaded with dict_foreign_t objects whose foreign_index or referenced_index
will be NULL.

Also, pass DICT_ERR_IGNORE_FK_NOKEY instead of DICT_ERR_IGNORE_NONE
to dict_table_open_on_id_low() in many other cases. Notably, on
CREATE TABLE and ALTER TABLE, we will keep validating the FOREIGN KEY
constraints as before.

dict_table_open_on_name(): If no other flags than
DICT_ERR_IGNORE_FK_NOKEY are set, refuse access to unreadable tables.
Some encryption tests rely on this code path.

For the DML code path, we used to have the problem that when
one of the indexes was missing in dict_foreign_t, we would ignore
the FOREIGN KEY constraint altogether. The following changes
address that.

row_ins_check_foreign_constraints(): Add the parameter pk.
For the primary key, consider also foreign key constraints for which
foreign->foreign_index=NULL (no underlying index is available).

row_ins_check_foreign_constraint(): Report errors also for !check_ref.
Remove a redundant check for srv_read_only_mode.

row_ins_foreign_report_add_err(): Tolerate foreign->foreign_index=NULL.

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