[SPARK-12868][SQL] Allow adding jars from hdfs

## What changes were proposed in this pull request?
Spark 2.2 is going to be cut, it'll be great if SPARK-12868 can be resolved before that. There have been several PRs for this like [PR#16324](https://github.com/apache/spark/pull/16324) , but all of them are inactivity for a long time or have been closed.

This PR added a SparkUrlStreamHandlerFactory, which relies on 'protocol' to choose the appropriate
UrlStreamHandlerFactory like FsUrlStreamHandlerFactory to create URLStreamHandler.

## How was this patch tested?
1. Add a new unit test.
2. Check manually.
Before: throw an exception with " failed unknown protocol: hdfs"
<img width="914" alt="screen shot 2017-03-17 at 9 07 36 pm" src="https://cloud.githubusercontent.com/assets/8546874/24075277/5abe0a7c-0bd5-11e7-900e-ec3d3105da0b.png">

After:
<img width="1148" alt="screen shot 2017-03-18 at 11 42 18 am" src="https://cloud.githubusercontent.com/assets/8546874/24075283/69382a60-0bd5-11e7-8d30-d9405c3aaaba.png">

Author: Weiqing Yang <yangweiqing001@gmail.com>

Closes #17342 from weiqingy/SPARK-18910.