Ensure that foreign scans with lateral refs are planned correctly.

As reported in bug #15613 from Srinivasan S A, file_fdw and postgres_fdw
neglected to mark plain baserel foreign paths as parameterized when the
relation has lateral_relids.  Other FDWs have surely copied this mistake,
so rather than just patching those two modules, install a band-aid fix
in create_foreignscan_path to rectify the mistake centrally.

Although the band-aid is enough to fix the visible symptom, correct
the calls in file_fdw and postgres_fdw anyway, so that they are valid
examples for external FDWs.

Also, since the band-aid isn't enough to make this work for parameterized
foreign joins, throw an elog(ERROR) if such a case is passed to
create_foreignscan_path.  This shouldn't pose much of a problem for
existing external FDWs, since it's likely they aren't trying to make such
paths anyway (though some of them may need a defense against joins with
lateral_relids, similar to the one this patch installs into postgres_fdw).

Add some assertions in relnode.c to catch future occurrences of the same
error --- in particular, as backstop against core-code mistakes like the
one fixed by commit bdd9a99aa.

Discussion: https://postgr.es/m/15613-092be1be9576c728@postgresql.org

contrib/postgres_fdw/expected/postgres_fdw.out

@@ -2132,6 +2132,62 @@ SELECT t1."C 1" FROM "S 1"."T 1" t1, LATERAL (SELECT DISTINCT t2.c1, t3.c1 FROM
    1
 (10 rows)
 
+-- bug #15613: bad plan for foreign table scan with lateral reference
+EXPLAIN (VERBOSE, COSTS OFF)
+SELECT ref_0.c2, subq_1.*
+FROM
+    "S 1"."T 1" AS ref_0,
+    LATERAL (
+        SELECT ref_0."C 1" c1, subq_0.*
+        FROM (SELECT ref_0.c2, ref_1.c3
+              FROM ft1 AS ref_1) AS subq_0
+             RIGHT JOIN ft2 AS ref_3 ON (subq_0.c3 = ref_3.c3)
+    ) AS subq_1
+WHERE ref_0."C 1" < 10 AND subq_1.c3 = '00001'
+ORDER BY ref_0."C 1";
+                                               QUERY PLAN                                                
+---------------------------------------------------------------------------------------------------------
+ Nested Loop
+   Output: ref_0.c2, ref_0."C 1", (ref_0.c2), ref_1.c3, ref_0."C 1"
+   ->  Nested Loop
+         Output: ref_0.c2, ref_0."C 1", ref_1.c3, (ref_0.c2)
+         ->  Index Scan using t1_pkey on "S 1"."T 1" ref_0
+               Output: ref_0."C 1", ref_0.c2, ref_0.c3, ref_0.c4, ref_0.c5, ref_0.c6, ref_0.c7, ref_0.c8
+               Index Cond: (ref_0."C 1" < 10)
+         ->  Foreign Scan on public.ft1 ref_1
+               Output: ref_1.c3, ref_0.c2
+               Remote SQL: SELECT c3 FROM "S 1"."T 1" WHERE ((c3 = '00001'::text))
+   ->  Materialize
+         Output: ref_3.c3
+         ->  Foreign Scan on public.ft2 ref_3
+               Output: ref_3.c3
+               Remote SQL: SELECT c3 FROM "S 1"."T 1" WHERE ((c3 = '00001'::text))
+(15 rows)
+
+SELECT ref_0.c2, subq_1.*
+FROM
+    "S 1"."T 1" AS ref_0,
+    LATERAL (
+        SELECT ref_0."C 1" c1, subq_0.*
+        FROM (SELECT ref_0.c2, ref_1.c3
+              FROM ft1 AS ref_1) AS subq_0
+             RIGHT JOIN ft2 AS ref_3 ON (subq_0.c3 = ref_3.c3)
+    ) AS subq_1
+WHERE ref_0."C 1" < 10 AND subq_1.c3 = '00001'
+ORDER BY ref_0."C 1";
+ c2 | c1 | c2 |  c3   
+----+----+----+-------
+  1 |  1 |  1 | 00001
+  2 |  2 |  2 | 00001
+  3 |  3 |  3 | 00001
+  4 |  4 |  4 | 00001
+  5 |  5 |  5 | 00001
+  6 |  6 |  6 | 00001
+  7 |  7 |  7 | 00001
+  8 |  8 |  8 | 00001
+  9 |  9 |  9 | 00001
+(9 rows)
+
 -- non-Var items in targetlist of the nullable rel of a join preventing
 -- push-down in some cases
 -- unable to push {ft1, ft2}