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Add support for semi (hash) join #461

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@Dandandan

Is your feature request related to a problem or challenge? Please describe what you are trying to do.
We should support semi join. This can also be used to execute IN and EXISTS.
Explicit syntax for this join could be supported too.

Describe the solution you'd like
Implement semi join in DataFusion. This can probably utilize most of the existing code in HashJoinExec

Describe alternatives you've considered

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