[SPARK-21264][PYTHON] Call cross join path in join without 'on' and with 'how'

## What changes were proposed in this pull request?

Currently, it throws a NPE when missing columns but join type is speicified in join at PySpark as below:

```python
spark.conf.set("spark.sql.crossJoin.enabled", "false")
spark.range(1).join(spark.range(1), how="inner").show()
```

```
Traceback (most recent call last):
...
py4j.protocol.Py4JJavaError: An error occurred while calling o66.join.
: java.lang.NullPointerException
	at org.apache.spark.sql.Dataset.join(Dataset.scala:931)
	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
...
```

```python
spark.conf.set("spark.sql.crossJoin.enabled", "true")
spark.range(1).join(spark.range(1), how="inner").show()
```

```
...
py4j.protocol.Py4JJavaError: An error occurred while calling o84.join.
: java.lang.NullPointerException
	at org.apache.spark.sql.Dataset.join(Dataset.scala:931)
	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
...
```

This PR suggests to follow Scala's one as below:

```scala
scala> spark.conf.set("spark.sql.crossJoin.enabled", "false")

scala> spark.range(1).join(spark.range(1), Seq.empty[String], "inner").show()
```

```
org.apache.spark.sql.AnalysisException: Detected cartesian product for INNER join between logical plans
Range (0, 1, step=1, splits=Some(8))
and
Range (0, 1, step=1, splits=Some(8))
Join condition is missing or trivial.
Use the CROSS JOIN syntax to allow cartesian products between these relations.;
...
```

```scala
scala> spark.conf.set("spark.sql.crossJoin.enabled", "true")

scala> spark.range(1).join(spark.range(1), Seq.empty[String], "inner").show()
```
```
+---+---+
| id| id|
+---+---+
|  0|  0|
+---+---+
```

**After**

```python
spark.conf.set("spark.sql.crossJoin.enabled", "false")
spark.range(1).join(spark.range(1), how="inner").show()
```

```
Traceback (most recent call last):
...
pyspark.sql.utils.AnalysisException: u'Detected cartesian product for INNER join between logical plans\nRange (0, 1, step=1, splits=Some(8))\nand\nRange (0, 1, step=1, splits=Some(8))\nJoin condition is missing or trivial.\nUse the CROSS JOIN syntax to allow cartesian products between these relations.;'
```

```python
spark.conf.set("spark.sql.crossJoin.enabled", "true")
spark.range(1).join(spark.range(1), how="inner").show()
```
```
+---+---+
| id| id|
+---+---+
|  0|  0|
+---+---+
```

## How was this patch tested?

Added tests in `python/pyspark/sql/tests.py`.

Author: hyukjinkwon <gurwls223@gmail.com>

Closes #18484 from HyukjinKwon/SPARK-21264.