[mlir][linalg] Fix `SemiFunctionType` custom parsing crash on missing `()` (#110365)HEADmain

The `SemiFunctionType` allows printing/parsing a set of argument and
result types, where there is always exactly one argument type and zero
or more result types. If there are no result types, the argument type
can be written without enclosing parens in the assembly. If there is at
least one result type, the parens are mandatory.

This patch fixes a bug where omitting the parens around the argument
types for a `SemiFunctionType` with non-optional result Types would
crash the parser. It introduces a `bool` argument `resultOptional` to
the parser and printer which, when `false`, correctly enforces the
parens around argument types, otherwise printing an error.

Fix https://github.com/llvm/llvm-project/issues/109128

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