[SPARK-20492][SQL] Do not print empty parentheses for invalid primitive types in parser

## What changes were proposed in this pull request?

Currently, when the type string is invalid, it looks printing empty parentheses. This PR proposes a small improvement in an error message by removing it in the parse as below:

```scala
spark.range(1).select($"col".cast("aa"))
```

**Before**

```
org.apache.spark.sql.catalyst.parser.ParseException:
DataType aa() is not supported.(line 1, pos 0)

== SQL ==
aa
^^^
```

**After**

```
org.apache.spark.sql.catalyst.parser.ParseException:
DataType aa is not supported.(line 1, pos 0)

== SQL ==
aa
^^^
```

## How was this patch tested?

Unit tests in `DataTypeParserSuite`.

Author: hyukjinkwon <gurwls223@gmail.com>

Closes #17784 from HyukjinKwon/SPARK-20492.