Deprecate `codecs.open()`

Discussion: https://discuss.python.org/t/deprecating-codecs-open/88135/

codecs.open() is used a lot because it was recommended in Python 2.
But open() (or io.open()) is recommended since Python 3.

It is a time to deprecate codecs.open().
Since it is still widely used, we won't schedule its removal.

Linked PRs