[SPARK-6949] [SQL] [PySpark] Support Date/Timestamp in Column expression

This PR enable auto_convert in JavaGateway, then we could register a converter for a given types, for example, date and datetime.

There are two bugs related to auto_convert, see [1] and [2], we workaround it in this PR.

[1]  https://github.com/bartdag/py4j/issues/160
[2] https://github.com/bartdag/py4j/issues/161

cc rxin JoshRosen

Author: Davies Liu <davies@databricks.com>

Closes #5570 from davies/py4j_date and squashes the following commits:

eb4fa53 [Davies Liu] fix tests in python 3
d17d634 [Davies Liu] rollback changes in mllib
2e7566d [Davies Liu] convert tuple into ArrayList
ceb3779 [Davies Liu] Update rdd.py
3c373f3 [Davies Liu] support date and datetime by auto_convert
cb094ff [Davies Liu] enable auto convert