[aot] Support multiple AOT runtime devices (#8275)

Issue: #

### Brief Summary

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copilot:summary
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### <samp>🤖 Generated by Copilot at 34529d5</samp>

Add Vulkan device selection and error handling to C-API. This allows
users to specify a `device_index` for the Vulkan backend in
`taichi_core_impl.cpp`, and raises an exception for invalid indices for
other backends.

### Walkthrough

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copilot:walkthrough
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### <samp>🤖 Generated by Copilot at 34529d5</samp>

* Enable selecting a Vulkan device with the C-API by removing the zero
check and calling `set_vulkan_device_index` with the device_index
parameter
([link](https://github.com/taichi-dev/taichi/pull/8275/files?diff=unified&w=0#diff-693e7dacdac48ac69a749431b9e09ec9789a5aa2d4a98a4a3dad596c1fda6abbL249-R257))
* Add zero checks and error messages for the other backends that do not
support selecting a device with the C-API: CUDA
([link](https://github.com/taichi-dev/taichi/pull/8275/files?diff=unified&w=0#diff-693e7dacdac48ac69a749431b9e09ec9789a5aa2d4a98a4a3dad596c1fda6abbR269)),
Metal
([link](https://github.com/taichi-dev/taichi/pull/8275/files?diff=unified&w=0#diff-693e7dacdac48ac69a749431b9e09ec9789a5aa2d4a98a4a3dad596c1fda6abbR276)),
OpenGL
([link](https://github.com/taichi-dev/taichi/pull/8275/files?diff=unified&w=0#diff-693e7dacdac48ac69a749431b9e09ec9789a5aa2d4a98a4a3dad596c1fda6abbR282)),
CC
([link](https://github.com/taichi-dev/taichi/pull/8275/files?diff=unified&w=0#diff-693e7dacdac48ac69a749431b9e09ec9789a5aa2d4a98a4a3dad596c1fda6abbR288)),
and LLVM
([link](https://github.com/taichi-dev/taichi/pull/8275/files?diff=unified&w=0#diff-693e7dacdac48ac69a749431b9e09ec9789a5aa2d4a98a4a3dad596c1fda6abbR296))

---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

c_api/src/taichi_core_impl.cpp

@@ -247,12 +247,12 @@ void ti_set_last_error(TiError error, const char *message) {
 TiRuntime ti_create_runtime(TiArch arch, uint32_t device_index) {
   TiRuntime out = TI_NULL_HANDLE;
   TI_CAPI_TRY_CATCH_BEGIN();
-  // FIXME: (penguinliong) Support device selection.
-  TI_CAPI_NOT_SUPPORTED_IF_RV(device_index != 0);
   TI_INFO("Taichi Runtime C-API version is: {}", TI_C_API_VERSION);
   switch (arch) {
 #ifdef TI_WITH_VULKAN
     case TI_ARCH_VULKAN: {
+      taichi::lang::vulkan::set_vulkan_visible_device(
+          std::to_string(device_index));
       VulkanRuntimeOwned *vulkan_runtime;
       if (is_ci()) {
         auto param = make_vulkan_runtime_creator_params();
@@ -267,29 +267,34 @@ TiRuntime ti_create_runtime(TiArch arch, uint32_t device_index) {
 #endif  // TI_WITH_VULKAN
 #ifdef TI_WITH_OPENGL
     case TI_ARCH_OPENGL: {
+      TI_CAPI_NOT_SUPPORTED_IF_RV(device_index != 0);
       out = (TiRuntime)(static_cast<Runtime *>(new OpenglRuntime));
       break;
     }
 #endif  // TI_WITH_OPENGL
 #ifdef TI_WITH_LLVM
     case TI_ARCH_X64: {
+      TI_CAPI_NOT_SUPPORTED_IF_RV(device_index != 0);
       out = (TiRuntime)(static_cast<Runtime *>(
           new capi::LlvmRuntime(taichi::Arch::x64)));
       break;
     }
     case TI_ARCH_ARM64: {
+      TI_CAPI_NOT_SUPPORTED_IF_RV(device_index != 0);
       out = (TiRuntime)(static_cast<Runtime *>(
           new capi::LlvmRuntime(taichi::Arch::arm64)));
       break;
     }
     case TI_ARCH_CUDA: {
+      TI_CAPI_NOT_SUPPORTED_IF_RV(device_index != 0);
       out = (TiRuntime)(static_cast<Runtime *>(
           new capi::LlvmRuntime(taichi::Arch::cuda)));
       break;
     }
 #endif  // TI_WITH_LLVM
 #ifdef TI_WITH_METAL
     case TI_ARCH_METAL: {
+      TI_CAPI_NOT_SUPPORTED_IF_RV(device_index != 0);
       out = (TiRuntime)(static_cast<Runtime *>(new capi::MetalRuntime()));
       break;
     }