[SPARK-19505][PYTHON] AttributeError on Exception.message in Python3

## What changes were proposed in this pull request?

Added `util._message_exception` helper to use `str(e)` when `e.message` is unavailable (Python3).  Grepped for all occurrences of `.message` in `pyspark/` and these were the only occurrences.

## How was this patch tested?

- Doctests for helper function

## Legal

This is my original work and I license the work to the project under the project’s open source license.

Author: David Gingrich <david@textio.com>

Closes #16845 from dgingrich/topic-spark-19505-py3-exceptions.