Support SQL connection string

[webb-ben]

Overview

• Harmonize parsing SQL Feature and Tile Provider definition with SQL Process manager.
• Support inline SQL urls for SQL Provider
  • Add support for query parameters in SQL connection
  • Support additional backends than pymysql and pyscopy2 when defining the full URL (pg8000, etc.)
• Update function annotation
• Add tests for single line SQL URLs

Related Issue / discussion

#2250
#2157
#1157

Additional information

Dependency policy (RFC2)

• I have ensured that this PR meets RFC2 requirements

Updates to public demo

• I have ensured that breaking changes to the pygeoapi master demo server have been addressed
  • https://github.com/geopython/demo.pygeoapi.io/blob/master/services/pygeoapi_master/local.config.yml

Contributions and licensing

(as per https://github.com/geopython/pygeoapi/blob/master/CONTRIBUTING.md#contributions-and-licensing)

• I'd like to contribute [feature X|bugfix Y|docs|something else] to pygeoapi. I confirm that my contributions to pygeoapi will be compatible with the pygeoapi license guidelines at the time of contribution
• I have already previously agreed to the pygeoapi Contributions and Licensing Guidelines