Link: https://code.alibaba-inc.com/Ali-MaaS/MaaS-lib/codereview/10039848

    * add device usage when device is None or empty

    * update docker env

skip this test which will result in too much debug log for placement although debug level is canceled after this test case

Link: https://code.alibaba-inc.com/Ali-MaaS/MaaS-lib/codereview/9875987

1. add device util to verify, create and place device
2. pipeline and trainer support update
3.  fix pipeline which use tf models does not place model to the right device

usage

```python
pipe = pipeline('damo/xxx', device='cpu')
pipe = pipeline('damo/xxx', device='gpu')
pipe = pipeline('damo/xxx', device='gpu:0')
pipe = pipeline('damo/xxx', device='gpu:2')
pipe = pipeline('damo/xxx', device='cuda')
pipe = pipeline('damo/xxx', device='cuda:1')
```
 Link: https://code.alibaba-inc.com/Ali-MaaS/MaaS-lib/codereview/9800672