[SPARK-8725][PROJECT-INFRA] Test modules in topologically-sorted order in dev/run-tests

This patch improves our `dev/run-tests` script to test modules in a topologically-sorted order based on modules' dependencies.  This will help to ensure that bugs in upstream projects are not misattributed to downstream projects because those projects' tests were the first ones to exhibit the failure

Topological sorting is also useful for shortening the feedback loop when testing pull requests: if I make a change in SQL then the SQL tests should run before MLlib, not after.

In addition, this patch also updates our test module definitions to split `sql` into `catalyst`, `sql`, and `hive` in order to allow more tests to be skipped when changing only `hive/` files.

Author: Josh Rosen <joshrosen@databricks.com>

Closes #10885 from JoshRosen/SPARK-8725.