This PR switches to using `env.CHANGE_ID` to identify whether we are building a 
PR. It also uses `CHANGE_TARGET` instead of hardcoding `main` check in 
Prepare.groovy. Let's merge this to v0.11.0 release branch where there are 
CI problems first, then we can cherry-pick to main via another PR.

@driazati @leandron 

NOTE: I do see [this potential 
issue](https://issues.jenkins.io/browse/JENKINS-45319), but in practice I 
didn't see a problem and I do have a hyphenated branch name.

Testing: [branch 
build](https://ci.tlcpack.ai/blue/organizations/jenkins/tvm-cpu/detail/areusch%2Ffix-branch-release-ci/5/pipeline)
 [PR 
build](https://ci.tlcpack.ai/blue/organizations/jenkins/tvm-cpu/detail/PR-14120/3/pipeline)
You can view, comment on, or merge this pull request online at:

  https://github.com/apache/tvm/pull/14121

-- Commit Summary --

  * bring back Jenkins makefile and requirements.txt
  * Try using CHANGE_ID to identify pull requests everywhere.

-- File Changes --

    A ci/jenkins/Makefile (27)
    M ci/jenkins/generated/arm_jenkinsfile.groovy (26)
    M ci/jenkins/generated/cortexm_jenkinsfile.groovy (26)
    M ci/jenkins/generated/cpu_jenkinsfile.groovy (26)
    M ci/jenkins/generated/docker_jenkinsfile.groovy (26)
    M ci/jenkins/generated/gpu_jenkinsfile.groovy (26)
    M ci/jenkins/generated/hexagon_jenkinsfile.groovy (26)
    M ci/jenkins/generated/i386_jenkinsfile.groovy (26)
    M ci/jenkins/generated/lint_jenkinsfile.groovy (26)
    M ci/jenkins/generated/minimal_jenkinsfile.groovy (26)
    M ci/jenkins/generated/riscv_jenkinsfile.groovy (26)
    M ci/jenkins/generated/wasm_jenkinsfile.groovy (26)
    A ci/jenkins/requirements.txt (1)
    M ci/jenkins/templates/utils/Prepare.groovy.j2 (24)

-- Patch Links --

https://github.com/apache/tvm/pull/14121.patch
https://github.com/apache/tvm/pull/14121.diff

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