[SPARK-14555] Second cut of Python API for Structured Streaming

## What changes were proposed in this pull request?

This PR adds Python APIs for:
 - `ContinuousQueryManager`
 - `ContinuousQueryException`

The `ContinuousQueryException` is a very basic wrapper, it doesn't provide the functionality that the Scala side provides, but it follows the same pattern for `AnalysisException`.

For `ContinuousQueryManager`, all APIs are provided except for registering listeners.

This PR also attempts to fix test flakiness by stopping all active streams just before tests.

## How was this patch tested?

Python Doc tests and unit tests

Author: Burak Yavuz <brkyvz@gmail.com>

Closes #12673 from brkyvz/pyspark-cqm.