[SPARK-19507][SPARK-21296][PYTHON] Avoid per-record type dispatch in schema...

[SPARK-19507][SPARK-21296][PYTHON] Avoid per-record type dispatch in schema verification and improve exception message

## What changes were proposed in this pull request?
**Context**

While reviewing https://github.com/apache/spark/pull/17227, I realised here we type-dispatch per record. The PR itself is fine in terms of performance as is but this prints a prefix, `"obj"` in exception message as below:

```
from pyspark.sql.types import *
schema = StructType([StructField('s', IntegerType(), nullable=False)])
spark.createDataFrame([["1"]], schema)
...
TypeError: obj.s: IntegerType can not accept object '1' in type <type 'str'>
```

I suggested to get rid of this but during investigating this, I realised my approach might bring a performance regression as it is a hot path.

Only for SPARK-19507 and https://github.com/apache/spark/pull/17227, It needs more changes to cleanly get rid of the prefix and I rather decided to fix both issues together.

**Propersal**

This PR tried to

  - get rid of per-record type dispatch as we do in many code paths in Scala  so that it improves the performance (roughly ~25% improvement) - SPARK-21296

    This was tested with a simple code `spark.createDataFrame(range(1000000), "int")`. However, I am quite sure the actual improvement in practice is larger than this, in particular, when the schema is complicated.

   - improve error message in exception describing field information as prose - SPARK-19507

## How was this patch tested?

Manually tested and unit tests were added in `python/pyspark/sql/tests.py`.

Benchmark - codes: https://gist.github.com/HyukjinKwon/c3397469c56cb26c2d7dd521ed0bc5a3
Error message - codes: https://gist.github.com/HyukjinKwon/b1b2c7f65865444c4a8836435100e398

**Before**

Benchmark:
  - Results: https://gist.github.com/HyukjinKwon/4a291dab45542106301a0c1abcdca924

Error message
  - Results: https://gist.github.com/HyukjinKwon/57b1916395794ce924faa32b14a3fe19

**After**

Benchmark
  - Results: https://gist.github.com/HyukjinKwon/21496feecc4a920e50c4e455f836266e

Error message
  - Results: https://gist.github.com/HyukjinKwon/7a494e4557fe32a652ce1236e504a395

Closes #17227

Author: hyukjinkwon <gurwls223@gmail.com>
Author: David Gingrich <david@textio.com>

Closes #18521 from HyukjinKwon/python-type-dispatch.