[SPARK-31830][SQL] Consistent error handling for datetime formatting and parsing functions

### What changes were proposed in this pull request?
Currently, `date_format` and `from_unixtime`, `unix_timestamp`,`to_unix_timestamp`, `to_timestamp`, `to_date`  have different exception handling behavior for formatting datetime values.

In this PR, we apply the exception handling behavior of `date_format` to `from_unixtime`, `unix_timestamp`,`to_unix_timestamp`, `to_timestamp` and `to_date`.

In the phase of creating the datetime formatted or formating, exceptions will be raised.

e.g.

```java
spark-sql> select date_format(make_timestamp(1, 1 ,1,1,1,1), 'yyyyyyyyyyy-MM-aaa');
20/05/28 15:25:38 ERROR SparkSQLDriver: Failed in [select date_format(make_timestamp(1, 1 ,1,1,1,1), 'yyyyyyyyyyy-MM-aaa')]
org.apache.spark.SparkUpgradeException: You may get a different result due to the upgrading of Spark 3.0: Fail to recognize 'yyyyyyyyyyy-MM-aaa' pattern in the DateTimeFormatter. 1) You can set spark.sql.legacy.timeParserPolicy to LEGACY to restore the behavior before Spark 3.0. 2) You can form a valid datetime pattern with the guide from https://spark.apache.org/docs/latest/sql-ref-datetime-pattern.html
```

```java
spark-sql> select date_format(make_timestamp(1, 1 ,1,1,1,1), 'yyyyyyyyyyy-MM-AAA');
20/05/28 15:26:10 ERROR SparkSQLDriver: Failed in [select date_format(make_timestamp(1, 1 ,1,1,1,1), 'yyyyyyyyyyy-MM-AAA')]
java.lang.IllegalArgumentException: Illegal pattern character: A
```

```java
spark-sql> select date_format(make_timestamp(1,1,1,1,1,1), 'yyyyyyyyyyy-MM-dd');
20/05/28 15:23:23 ERROR SparkSQLDriver: Failed in [select date_format(make_timestamp(1,1,1,1,1,1), 'yyyyyyyyyyy-MM-dd')]
java.lang.ArrayIndexOutOfBoundsException: 11
	at java.time.format.DateTimeFormatterBuilder$NumberPrinterParser.format(DateTimeFormatterBuilder.java:2568)
```
In the phase of parsing, `DateTimeParseException | DateTimeException | ParseException` will be suppressed, but `SparkUpgradeException` will still be raised

e.g.

```java
spark-sql> set spark.sql.legacy.timeParserPolicy=exception;
spark.sql.legacy.timeParserPolicy	exception
spark-sql> select to_timestamp("2020-01-27T20:06:11.847-0800", "yyyy-MM-dd'T'HH:mm:ss.SSSz");
20/05/28 15:31:15 ERROR SparkSQLDriver: Failed in [select to_timestamp("2020-01-27T20:06:11.847-0800", "yyyy-MM-dd'T'HH:mm:ss.SSSz")]
org.apache.spark.SparkUpgradeException: You may get a different result due to the upgrading of Spark 3.0: Fail to parse '2020-01-27T20:06:11.847-0800' in the new parser. You can set spark.sql.legacy.timeParserPolicy to LEGACY to restore the behavior before Spark 3.0, or set to CORRECTED and treat it as an invalid datetime string.
```

```java
spark-sql> set spark.sql.legacy.timeParserPolicy=corrected;
spark.sql.legacy.timeParserPolicy	corrected
spark-sql> select to_timestamp("2020-01-27T20:06:11.847-0800", "yyyy-MM-dd'T'HH:mm:ss.SSSz");
NULL
spark-sql> set spark.sql.legacy.timeParserPolicy=legacy;
spark.sql.legacy.timeParserPolicy	legacy
spark-sql> select to_timestamp("2020-01-27T20:06:11.847-0800", "yyyy-MM-dd'T'HH:mm:ss.SSSz");
2020-01-28 12:06:11.847
```

### Why are the changes needed?
Consistency

### Does this PR introduce _any_ user-facing change?

Yes, invalid datetime patterns will fail `from_unixtime`, `unix_timestamp`,`to_unix_timestamp`, `to_timestamp` and `to_date` instead of resulting `NULL`

### How was this patch tested?

add more tests

Closes apache#28650 from yaooqinn/SPARK-31830.

Authored-by: Kent Yao <[email protected]>
Signed-off-by: Wenchen Fan <[email protected]>

Author: yaooqinn

docs/sql-migration-guide.md

@@ -27,6 +27,8 @@ license: |
   - In Spark 3.1, grouping_id() returns long values. In Spark version 3.0 and earlier, this function returns int values. To restore the behavior before Spark 3.0, you can set `spark.sql.legacy.integerGroupingId` to `true`.
 
   - In Spark 3.1, SQL UI data adopts the `formatted` mode for the query plan explain results. To restore the behavior before Spark 3.0, you can set `spark.sql.ui.explainMode` to `extended`.
+  
+  - In Spark 3.1, `from_unixtime`, `unix_timestamp`,`to_unix_timestamp`, `to_timestamp` and `to_date` will fail if the specified datetime pattern is invalid. In Spark 3.0 or earlier, they result `NULL`.
 
 ## Upgrading from Spark SQL 2.4 to 3.0