[SPARK-33363] Add prompt information related to the current task when pyspark/sparkR starts

### What changes were proposed in this pull request?
add prompt information about current applicationId, current URL and master info when pyspark / sparkR starts.

### Why are the changes needed?
The information printed when pyspark/sparkR starts does not prompt the basic information of current application, and it is not convenient when used pyspark/sparkR in dos.

### Does this PR introduce _any_ user-facing change?
no

### How was this patch tested?
manual test result shows below:
![pyspark new print](https://user-images.githubusercontent.com/52202080/98274268-2a663f00-1fce-11eb-88ce-964ce90b439e.png)
![sparkR](https://user-images.githubusercontent.com/52202080/98541235-1a01dd00-22ca-11eb-9304-09bcde87b05e.png)

Closes #30266 from akiyamaneko/pyspark-hint-info.

Authored-by: neko <echohlne@gmail.com>
Signed-off-by: HyukjinKwon <gurwls223@apache.org>