feat(stepfunctions-tasks): add http:invoke step functions task

[MathieuGilbert]

This adds an HttpInvoke Step Functions task construct, which allows calling public APIs as described here.

• Accepts an Event Bridge API Destination IConnection, setting required permissions to use its credentials.
• Grants permission to invoke the root path for the endpoint (apiRoot prop). This allows passing the relative endpoint path at execution time (apiEndpoint prop).
• Defines an enum for the allowed options for the URL encoding style of arrays, used when encoding the request body.

Closes #28278

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[aws-cdk-automation]

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[MathieuGilbert]

@msambol @TheRealAmazonKendra Thanks for reviewing, I think I've addressed all of your comments. Please let me know if there's anything else!

[mergify[bot]]

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[TheRealAmazonKendra]

@Mergifyio update

[mergify[bot]]

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[aws-cdk-automation]

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• Result: SUCCEEDED
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[mergify[bot]]

Thank you for contributing! Your pull request will be updated from main and then merged automatically (do not update manually, and be sure to allow changes to be pushed to your fork).