[SPARK-19949][SQL] unify bad record handling in CSV and JSON

## What changes were proposed in this pull request?

Currently JSON and CSV have exactly the same logic about handling bad records, this PR tries to abstract it and put it in a upper level to reduce code duplication.

The overall idea is, we make the JSON and CSV parser to throw a BadRecordException, then the upper level, FailureSafeParser, handles bad records according to the parse mode.

Behavior changes:
1. with PERMISSIVE mode, if the number of tokens doesn't match the schema, previously CSV parser will treat it as a legal record and parse as many tokens as possible. After this PR, we treat it as an illegal record, and put the raw record string in a special column, but we still parse as many tokens as possible.
2. all logging is removed as they are not very useful in practice.

## How was this patch tested?

existing tests

Author: Wenchen Fan <wenchen@databricks.com>
Author: hyukjinkwon <gurwls223@gmail.com>
Author: Wenchen Fan <cloud0fan@gmail.com>

Closes #17315 from cloud-fan/bad-record2.