Update to new Jena major version 5

[atextor]

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Description

Updates the code base to work with Jena >=5. This removes the custom
implementation for Jena graph nodes, which does not work any more with the
updated API and instead introduces the TokenRegistry class, which keeps track
of the mapping between (RDF parser) tokens and graph nodes so. This mapping is
used for sorting subjects when pretty printing Aspect Models and reporting
location details about semantic validation errors.

Fixes #656.

Type of change

Please delete options that are not relevant.

• Breaking change (fix or feature that would cause existing functionality to not work as expected)

Note: Even though this is a breaking change, it only applies to APIs internal to esmf-sdk.

Checklist:

• My code follows the style guidelines of this project
• I have performed a self-review of my own code
• I have commented my code, particularly in hard-to-understand areas
• [-] I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works

[Yauhenikapl]

LGTM!

[github-actions]

Release v2.9.6 addresses this.