[7.6] Fix ingest pipeline _simulate api with empty docs never returns a response #53436
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This PR relates to #52833.
The main changes are:
Return 400 status code with error message if the docs array is empty.
Return 400 status code with error message if the element in docs array is not a map.
Check whether the docs array is empty again when executing the pipeline simulate, avoiding no response.
Add some test code for the changes.
Backport of #52937