[SPARK-6216] [PYSPARK] check python version of worker with driver

This PR revert #5404, change to pass the version of python in driver into JVM, check it in worker before deserializing closure, then it can works with different major version of Python.

Author: Davies Liu <davies@databricks.com>

Closes #6203 from davies/py_version and squashes the following commits:

b8fb76e [Davies Liu] fix test
6ce5096 [Davies Liu] use string for version
47c6278 [Davies Liu] check python version of worker with driver