opt: do not use LockDurabilityGuaranteed under serializable isolation

This is a follow-up from cockroachdb#103734.

We do not want to use guaranteed-durable (a.k.a. replicated) locking
under serializable isolation, because it prevents pipelining and other
optimizations, and is unnecessary for correctness. This commit ammends
8cbc6d1 to only set durability for
`SELECT FOR UPDATE` locking under weaker isolation levels.

This means that query plans will be slightly different under different
isolation levels, and so we must add isolation level to the optimizer
memo staleness calculation.

Furthermore, this commit changes the error message added by
e633d5e to be about guaranteed-durable
locking rather than `SELECT FOR UPDATE`, because in a later commit this
specific error will also be triggered by foreign key checks under weaker
isolation levels.

Informs: cockroachdb#100144, cockroachdb#100156, cockroachdb#100193, cockroachdb#100194

Release note: None

pkg/sql/logictest/testdata/logic_test/select_for_update_read_committed

@@ -36,7 +36,7 @@ COMMIT
 statement ok
 BEGIN TRANSACTION ISOLATION LEVEL READ COMMITTED
 
-query error pgcode 0A000 cannot execute SELECT FOR UPDATE statements under ReadCommitted isolation
+query error pgcode 0A000 guaranteed-durable locking not yet implemented
 SELECT aisle FROM supermarket WHERE person = 'matilda' FOR UPDATE
 
 statement ok
@@ -49,7 +49,7 @@ SET CLUSTER SETTING sql.txn.snapshot_isolation.enabled = true
 statement ok
 BEGIN TRANSACTION ISOLATION LEVEL SNAPSHOT
 
-query error pgcode 0A000 cannot execute SELECT FOR UPDATE statements under Snapshot isolation
+query error pgcode 0A000 guaranteed-durable locking not yet implemented
 SELECT aisle FROM supermarket WHERE person = 'matilda' FOR UPDATE
 
 statement ok
@@ -65,7 +65,7 @@ BEGIN TRANSACTION
 statement ok
 SET TRANSACTION ISOLATION LEVEL READ COMMITTED;
 
-query error pgcode 0A000 cannot execute SELECT FOR UPDATE statements under ReadCommitted isolation
+query error pgcode 0A000 guaranteed-durable locking not yet implemented
 UPDATE supermarket
   SET aisle = (SELECT aisle FROM supermarket WHERE person = 'matilda' FOR UPDATE)
   WHERE person = 'michael'
@@ -80,7 +80,7 @@ BEGIN TRANSACTION
 statement ok
 SET TRANSACTION ISOLATION LEVEL READ COMMITTED;
 
-query error pgcode 0A000 cannot execute SELECT FOR UPDATE statements under ReadCommitted isolation
+query error pgcode 0A000 guaranteed-durable locking not yet implemented
 WITH s AS
   (SELECT aisle FROM supermarket WHERE person = 'matilda' FOR UPDATE)
 SELECT aisle + 1 FROM s
@@ -98,7 +98,7 @@ CREATE FUNCTION wrangle (name STRING) RETURNS INT LANGUAGE SQL AS $$
 $$
 
 # But calling that function should fail.
-query error pgcode 0A000 cannot execute SELECT FOR UPDATE statements under ReadCommitted isolation
+query error pgcode 0A000 guaranteed-durable locking not yet implemented
 INSERT INTO supermarket (person, aisle) VALUES ('grandma', wrangle('matilda'))
 
 statement ok
@@ -109,14 +109,14 @@ statement ok
 PREPARE psa AS SELECT aisle FROM supermarket WHERE person = $1::STRING FOR UPDATE
 
 # But execution should fail.
-query error pgcode 0A000 cannot execute SELECT FOR UPDATE statements under ReadCommitted isolation
+query error pgcode 0A000 guaranteed-durable locking not yet implemented
 EXECUTE psa('matilda')
 
 statement ok
 DEALLOCATE psa
 
 # SELECT FOR UPDATE using a lookup join should also fail.
-query error pgcode 0A000 cannot execute SELECT FOR UPDATE statements under ReadCommitted isolation
+query error pgcode 0A000 guaranteed-durable locking not yet implemented
 WITH names AS MATERIALIZED
   (SELECT 'matilda' AS person)
 SELECT aisle
@@ -125,14 +125,14 @@ SELECT aisle
   FOR UPDATE
 
 # SELECT FOR UPDATE using an index join should also fail.
-query error pgcode 0A000 cannot execute SELECT FOR UPDATE statements under ReadCommitted isolation
+query error pgcode 0A000 guaranteed-durable locking not yet implemented
 SELECT aisle
   FROM supermarket@supermarket_starts_with_idx
   WHERE starts_with = 'm'
   FOR UPDATE
 
 # SELECT FOR UPDATE using a zigzag join should also fail.
-query error pgcode 0A000 cannot execute SELECT FOR UPDATE statements under ReadCommitted isolation
+query error pgcode 0A000 guaranteed-durable locking not yet implemented
 SELECT aisle
   FROM supermarket@{FORCE_ZIGZAG}
   WHERE starts_with = 'm' AND ends_with = 'lda'

pkg/sql/opt/exec/execbuilder/BUILD.bazel

@@ -14,7 +14,6 @@ go_library(
     importpath = "github.com/cockroachdb/cockroach/pkg/sql/opt/exec/execbuilder",
     visibility = ["//visibility:public"],
     deps = [
-        "//pkg/kv/kvserver/concurrency/isolation",
         "//pkg/server/telemetry",
         "//pkg/sql/catalog/colinfo",
         "//pkg/sql/catalog/descpb",

pkg/sql/opt/exec/execbuilder/relational.go

@@ -17,7 +17,6 @@ import (
 	"math"
 	"strings"
 
-	"github.com/cockroachdb/cockroach/pkg/kv/kvserver/concurrency/isolation"
 	"github.com/cockroachdb/cockroach/pkg/server/telemetry"
 	"github.com/cockroachdb/cockroach/pkg/sql/catalog/colinfo"
 	"github.com/cockroachdb/cockroach/pkg/sql/catalog/descpb"
@@ -2896,11 +2895,9 @@ func (b *Builder) buildLocking(locking opt.Locking) (opt.Locking, error) {
 				"cannot execute %s in a read-only transaction", locking.Strength.String(),
 			)
 		}
-		if locking.Durability == tree.LockDurabilityGuaranteed &&
-			b.evalCtx.TxnIsoLevel != isolation.Serializable {
+		if locking.Durability == tree.LockDurabilityGuaranteed {
 			return opt.Locking{}, unimplemented.NewWithIssuef(
-				100144, "cannot execute SELECT FOR UPDATE statements under %s isolation",
-				b.evalCtx.TxnIsoLevel,
+				100193, "guaranteed-durable locking not yet implemented",
 			)
 		}
 		b.ContainsNonDefaultKeyLocking = true