[SPARK-20541][SPARKR][SS] support awaitTermination without timeout

## What changes were proposed in this pull request?

Add without param for timeout - will need this to submit a job that runs until stopped
Need this for 2.2

## How was this patch tested?

manually, unit test

Author: Felix Cheung <felixcheung_m@hotmail.com>

Closes #17815 from felixcheung/rssawaitinfinite.