[SPARK-12799] Simplify various string output for expressions

This PR introduces several major changes:

1. Replacing `Expression.prettyString` with `Expression.sql`

   The `prettyString` method is mostly an internal, developer faced facility for debugging purposes, and shouldn't be exposed to users.

1. Using SQL-like representation as column names for selected fields that are not named expression (back-ticks and double quotes should be removed)

   Before, we were using `prettyString` as column names when possible, and sometimes the result column names can be weird.  Here are several examples:

   Expression         | `prettyString` | `sql`      | Note
   ------------------ | -------------- | ---------- | ---------------
   `a && b`           | `a && b`       | `a AND b`  |
   `a.getField("f")`  | `a[f]`         | `a.f`      | `a` is a struct

1. Adding trait `NonSQLExpression` extending from `Expression` for expressions that don't have a SQL representation (e.g. Scala UDF/UDAF and Java/Scala object expressions used for encoders)

   `NonSQLExpression.sql` may return an arbitrary user facing string representation of the expression.

Author: Cheng Lian <lian@databricks.com>

Closes #10757 from liancheng/spark-12799.simplify-expression-string-methods.

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