[SPARK-23517][PYTHON] Make `pyspark.util._exception_message` produce the trace from Java side by Py4JJavaError

## What changes were proposed in this pull request?

This PR proposes for `pyspark.util._exception_message` to produce the trace from Java side by `Py4JJavaError`.

Currently, in Python 2, it uses `message` attribute which `Py4JJavaError` didn't happen to have:

```python
>>> from pyspark.util import _exception_message
>>> try:
...     sc._jvm.java.lang.String(None)
... except Exception as e:
...     pass
...
>>> e.message
''
```

Seems we should use `str` instead for now:

 https://github.com/bartdag/py4j/blob/aa6c53b59027925a426eb09b58c453de02c21b7c/py4j-python/src/py4j/protocol.py#L412

but this doesn't address the problem with non-ascii string from Java side -
 `https://github.com/bartdag/py4j/issues/306`

So, we could directly call `__str__()`:

```python
>>> e.__str__()
u'An error occurred while calling None.java.lang.String.\n: java.lang.NullPointerException\n\tat java.lang.String.<init>(String.java:588)\n\tat sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)\n\tat sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)\n\tat sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)\n\tat java.lang.reflect.Constructor.newInstance(Constructor.java:422)\n\tat py4j.reflection.MethodInvoker.invoke(MethodInvoker.java:247)\n\tat py4j.reflection.ReflectionEngine.invoke(ReflectionEngine.java:357)\n\tat py4j.Gateway.invoke(Gateway.java:238)\n\tat py4j.commands.ConstructorCommand.invokeConstructor(ConstructorCommand.java:80)\n\tat py4j.commands.ConstructorCommand.execute(ConstructorCommand.java:69)\n\tat py4j.GatewayConnection.run(GatewayConnection.java:214)\n\tat java.lang.Thread.run(Thread.java:745)\n'
```

which doesn't type coerce unicodes to `str` in Python 2.

This can be actually a problem:

```python
from pyspark.sql.functions import udf
spark.conf.set("spark.sql.execution.arrow.enabled", True)
spark.range(1).select(udf(lambda x: [[]])()).toPandas()
```

**Before**

```
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/.../spark/python/pyspark/sql/dataframe.py", line 2009, in toPandas
    raise RuntimeError("%s\n%s" % (_exception_message(e), msg))
RuntimeError:
Note: toPandas attempted Arrow optimization because 'spark.sql.execution.arrow.enabled' is set to true. Please set it to false to disable this.
```

**After**

```
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/.../spark/python/pyspark/sql/dataframe.py", line 2009, in toPandas
    raise RuntimeError("%s\n%s" % (_exception_message(e), msg))
RuntimeError: An error occurred while calling o47.collectAsArrowToPython.
: org.apache.spark.SparkException: Job aborted due to stage failure: Task 7 in stage 0.0 failed 1 times, most recent failure: Lost task 7.0 in stage 0.0 (TID 7, localhost, executor driver): org.apache.spark.api.python.PythonException: Traceback (most recent call last):
  File "/.../spark/python/pyspark/worker.py", line 245, in main
    process()
  File "/.../spark/python/pyspark/worker.py", line 240, in process
...
Note: toPandas attempted Arrow optimization because 'spark.sql.execution.arrow.enabled' is set to true. Please set it to false to disable this.
```

## How was this patch tested?

Manually tested and unit tests were added.

Author: hyukjinkwon <gurwls223@gmail.com>

Closes #20680 from HyukjinKwon/SPARK-23517.