### What changes were proposed in this pull request?
This PR introduces a new property `spark.sql.cli.print.header` to let users change the behavior of printing header for spark-sql CLI by SET command.
### Why are the changes needed?
Like Hive CLI, spark-sql CLI accepts `hive.cli.print.header` property and we can change the behavior of printing header.
But spark-sql CLI doesn't allow users to change Hive specific configurations dynamically by SET command.
So, it's better to support the way to change the behavior by SET command.
### Does this PR introduce _any_ user-facing change?
Yes. Users can dynamically change the behavior by SET command.
### How was this patch tested?
I confirmed with the following commands/queries.
```
spark-sql> select (1) as a, (2) as b, (3) as c, (4) as d;
1 2 3 4
Time taken: 3.218 seconds, Fetched 1 row(s)
spark-sql> set spark.sql.cli.print.header=true;
key value
spark.sql.cli.print.header true
Time taken: 1.506 seconds, Fetched 1 row(s)
spark-sql> select (1) as a, (2) as b, (3) as c, (4) as d;
a b c d
1 2 3 4
Time taken: 0.79 seconds, Fetched 1 row(s)
```
Closes#31173 from sarutak/spark-sql-print-header.
Authored-by: Kousuke Saruta <sarutak@oss.nttdata.com>
Signed-off-by: HyukjinKwon <gurwls223@apache.org>
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