Add Python bindings for substrait module

[jdye64]

Is your feature request related to a problem or challenge? Please describe what you are trying to do.
arrow-datafusion recently accepted to donation of arrow-contrib/datafusion-substrait into its main branch. Now that the two repos are formally joined we should add Python bindings for those new bits. There are effectively 3 places to write the bindings. producer, consumer, and serializer.

Describe the solution you'd like
Python bindings to interact with arrow-datafusion substrait module

Describe alternatives you've considered
None

Additional context
None

[jdye64]

Depends on #115 since substrait was not added until the DataFusion 16.0.0 release.