[SPARK-19721][SS][BRANCH-2.1] Good error message for version mismatch in log files

## Problem

There are several places where we write out version identifiers in various logs for structured streaming (usually `v1`). However, in the places where we check for this, we throw a confusing error message.

## What changes were proposed in this pull request?

This patch made two major changes:
1. added a `parseVersion(...)` method, and based on this method, fixed the following places the way they did version checking (no other place needed to do this checking):
```
HDFSMetadataLog
  - CompactibleFileStreamLog  ------------> fixed with this patch
    - FileStreamSourceLog  ---------------> inherited the fix of `CompactibleFileStreamLog`
    - FileStreamSinkLog  -----------------> inherited the fix of `CompactibleFileStreamLog`
  - OffsetSeqLog  ------------------------> fixed with this patch
  - anonymous subclass in KafkaSource  ---> fixed with this patch
```

2. changed the type of `FileStreamSinkLog.VERSION`, `FileStreamSourceLog.VERSION` etc. from `String` to `Int`, so that we can identify newer versions via `version > 1` instead of `version != "v1"`
    - note this didn't break any backwards compatibility -- we are still writing out `"v1"` and reading back `"v1"`

## Exception message with this patch
```
java.lang.IllegalStateException: Failed to read log file /private/var/folders/nn/82rmvkk568sd8p3p8tb33trw0000gn/T/spark-86867b65-0069-4ef1-b0eb-d8bd258ff5b8/0. UnsupportedLogVersion: maximum supported log version is v1, but encountered v99. The log file was produced by a newer version of Spark and cannot be read by this version. Please upgrade.
	at org.apache.spark.sql.execution.streaming.HDFSMetadataLog.get(HDFSMetadataLog.scala:202)
	at org.apache.spark.sql.execution.streaming.OffsetSeqLogSuite$$anonfun$3$$anonfun$apply$mcV$sp$2.apply(OffsetSeqLogSuite.scala:78)
	at org.apache.spark.sql.execution.streaming.OffsetSeqLogSuite$$anonfun$3$$anonfun$apply$mcV$sp$2.apply(OffsetSeqLogSuite.scala:75)
	at org.apache.spark.sql.test.SQLTestUtils$class.withTempDir(SQLTestUtils.scala:133)
	at org.apache.spark.sql.execution.streaming.OffsetSeqLogSuite.withTempDir(OffsetSeqLogSuite.scala:26)
	at org.apache.spark.sql.execution.streaming.OffsetSeqLogSuite$$anonfun$3.apply$mcV$sp(OffsetSeqLogSuite.scala:75)
	at org.apache.spark.sql.execution.streaming.OffsetSeqLogSuite$$anonfun$3.apply(OffsetSeqLogSuite.scala:75)
	at org.apache.spark.sql.execution.streaming.OffsetSeqLogSuite$$anonfun$3.apply(OffsetSeqLogSuite.scala:75)
	at org.scalatest.Transformer$$anonfun$apply$1.apply$mcV$sp(Transformer.scala:22)
	at org.scalatest.OutcomeOf$class.outcomeOf(OutcomeOf.scala:85)
```

## How was this patch tested?

unit tests

Author: Liwei Lin <lwlin7@gmail.com>

Closes #17327 from lw-lin/good-msg-2.1.