[SPARK-10548] [SPARK-10563] [SQL] Fix concurrent SQL executions

*Note: this is for master branch only.* The fix for branch-1.5 is at #8721.

The query execution ID is currently passed from a thread to its children, which is not the intended behavior. This led to `IllegalArgumentException: spark.sql.execution.id is already set` when running queries in parallel, e.g.:
```
(1 to 100).par.foreach { _ =>
  sc.parallelize(1 to 5).map { i => (i, i) }.toDF("a", "b").count()
}
```
The cause is `SparkContext`'s local properties are inherited by default. This patch adds a way to exclude keys we don't want to be inherited, and makes SQL go through that code path.

Author: Andrew Or <andrew@databricks.com>

Closes #8710 from andrewor14/concurrent-sql-executions.