[SPARK-38105][SQL] Use error classes in the parsing errors of joins

[ivoson]

What changes were proposed in this pull request?

Migrate the following errors in QueryParsingErrors onto use error classes:

1. joinCriteriaUnimplementedError => throw IllegalStateException instead, since it should never happen and not visible to users, introduced by improving exhaustivity in PR
2. naturalCrossJoinUnsupportedError => UNSUPPORTED_FEATURE

Why are the changes needed?

Porting join parsing errors to new error framework.

Does this PR introduce any user-facing change?

No

How was this patch tested?

UT added.

[AmplabJenkins]

Can one of the admins verify this patch?

[MaxGekk]

INTERNAL_ERROR (should never happen, introduced by improving exhaustivity in #30455)

Let's throw IllegalStateException since it is not visible to end users (as we have already implemented that in #35302). We should use error classes only for errors that can be propagated to user space.

[ivoson]

INTERNAL_ERROR (should never happen, introduced by improving exhaustivity in #30455)

Let's throw IllegalStateException since it is not visible to end users (as we have already implemented that in #35302). We should use error classes only for errors that can be propagated to user space.

Thanks @MaxGekk

[MaxGekk]

+1, LGTM. Merging to master.
Thank you, @ivoson .