test: initialize test/wpt to run URL and console .js tests

This patch:

- Creates a new test suite `wpt` that can be used to run a subset
  of Web Platform Tests
- Adds a `WPTRunner` in `test/common/wpt.js` that can run the WPT
  subset in `test/fixtures/wpt` with a vm and the WPT harness
  while taking the status file in `test/wpt/status` into account.
  Here we use a new format of status file (in JSON) to handle specific
  requirements (like ICU requirements) in the tests and to handle
  expected failures and TODOs.
- Adds documentation on how the runner and the update automation works
- Runs the WHATWG URL tests and the console tests with the new test
  runner.

With this patch we eliminates the need of copy-pasting with manual
modifications to update a large chunk of our WPT subset previously
maintained in `test/parallel`. Now the tests run in `test/wpt` can
be automatically updated with `git node wpt` without modifications
by the actual WPT harness instead of our home-grown mock.

There are still a few URL tests left that need to be migrated in the
upstream to be placed in .js instead of .html - we currently still use
the legacy harness mock in the test files.

PR-URL: https://github.com/nodejs/node/pull/24035
Refs: https://github.com/nodejs/node/issues/23192


Reviewed-By: Daijiro Wachi <daijiro.wachi@gmail.com>