DM-45844: Avoid creating identical parsers

[andy-slac]

Building parsers is expensive, now ParserYacc keeps a cache of parsers,
there is one parser created per combination of keyword parameters. In
reality there will be just one parser because we do not pass any non-default
parameters to constructor. This makes repeated construction or ParserYacc
significantly faster, timing shows reduction from 6.6 sec to 0.3 msec per
1000 instantiations.

This commit removes option for identifier substitution at parser level (idMap
parameter for ParserYacc). We never used that option, its presence made
reusable parsers hard to implement. We handle identifiers in our visitor classes,
so there is no impact on our code. The only use of that option in the unit tests
was also removed.

Also added type annotations to parserLex and parserYacc modules.

Checklist

• ran Jenkins
• added a release note for user-visible changes to doc/changes
• (if changing dimensions.yaml) make a copy of dimensions.yaml in configs/old_dimensions

[codecov]

Codecov Report

Attention: Patch coverage is 94.25287% with 5 lines in your changes missing coverage. Please review.

Project coverage is 89.69%. Comparing base (8c62bcf) to head (71576b8).

Files with missing lines	Patch %	Lines
.../registry/queries/expressions/parser/parserYacc.py	92.53%	0 Missing and 5 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1084      +/-   ##
==========================================
- Coverage   89.69%   89.69%   -0.01%     
==========================================
  Files         360      360              
  Lines       47077    47094      +17     
  Branches     9664     9693      +29     
==========================================
+ Hits        42228    42240      +12     
  Misses       3480     3480              
- Partials     1369     1374       +5     

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