[SPARK-5950][SQL]Insert array into a metastore table saved as parquet should...

[SPARK-5950][SQL]Insert array into a metastore table saved as parquet should work when using datasource api

This PR contains the following changes:
1. Add a new method, `DataType.equalsIgnoreCompatibleNullability`, which is the middle ground between DataType's equality check and `DataType.equalsIgnoreNullability`. For two data types `from` and `to`, it does `equalsIgnoreNullability` as well as if the nullability of `from` is compatible with that of `to`. For example, the nullability of `ArrayType(IntegerType, containsNull = false)` is compatible with that of `ArrayType(IntegerType, containsNull = true)` (for an array without null values, we can always say it may contain null values). However,  the nullability of `ArrayType(IntegerType, containsNull = true)` is incompatible with that of `ArrayType(IntegerType, containsNull = false)` (for an array that may have null values, we cannot say it does not have null values).
2. For the `resolved` field of `InsertIntoTable`, use `equalsIgnoreCompatibleNullability` to replace the equality check of the data types.
3. For our data source write path, when appending data, we always use the schema of existing table to write the data. This is important for parquet, since nullability direct impacts the way to encode/decode values. If we do not do this, we may see corrupted values when reading values from a set of parquet files generated with different nullability settings.
4. When generating a new parquet table, we always set nullable/containsNull/valueContainsNull to true. So, we will not face situations that we cannot append data because containsNull/valueContainsNull in an Array/Map column of the existing table has already been set to `false`. This change makes the whole data pipeline more robust.
5. Update the equality check of JSON relation. Since JSON does not really cares nullability,  `equalsIgnoreNullability` seems a better choice to compare schemata from to JSON tables.

JIRA: https://issues.apache.org/jira/browse/SPARK-5950

Thanks viirya for the initial work in #4729.

cc marmbrus liancheng

Author: Yin Huai <yhuai@databricks.com>

Closes #4826 from yhuai/insertNullabilityCheck and squashes the following commits:

3b61a04 [Yin Huai] Revert change on equals.
80e487e [Yin Huai] asNullable in UDT.
587d88b [Yin Huai] Make methods private.
0cb7ea2 [Yin Huai] marmbrus's comments.
3cec464 [Yin Huai] Cheng's comments.
486ed08 [Yin Huai] Merge remote-tracking branch 'upstream/master' into insertNullabilityCheck
d3747d1 [Yin Huai] Remove unnecessary change.
8360817 [Yin Huai] Merge remote-tracking branch 'upstream/master' into insertNullabilityCheck
8a3f237 [Yin Huai] Use equalsIgnoreNullability instead of equality check.
0eb5578 [Yin Huai] Fix tests.
f6ed813 [Yin Huai] Update old parquet path.
e4f397c [Yin Huai] Unit tests.
b2c06f8 [Yin Huai] Ignore nullability in JSON relation's equality check.
8bd008b [Yin Huai] nullable, containsNull, and valueContainsNull will be always true for parquet data.
bf50d73 [Yin Huai] When appending data, we use the schema of the existing table instead of the schema of the new data.
0a703e7 [Yin Huai] Test failed again since we cannot read correct content.
9a26611 [Yin Huai] Make InsertIntoTable happy.
8f19fe5 [Yin Huai] equalsIgnoreCompatibleNullability
4ec17fd [Yin Huai] Failed test.