*: improve syntax error code & message compatibility

[lysu]

What problem does this PR solve?

ref pingcap/parser#175

and pre-append user-friendly error message, and use right error code.

What is changed and how it works?

• ref parser
• use SyntaxError, SyntaxWarn convert error/warns returned by parser

Check List

Tests

• Unit test
• Integration test

Code changes

• Has exported function/method change

Side effects

• N/A

Related changes

• N/A

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This change is 

[lysu]

/run-all-tests tidb-test=pr/723

[lysu]

/run-common-test tidb-test=pr/723
/run-integration-common-test tidb-test=pr/723

[lysu]

/run-all-tests tidb-test=pr/723

[lysu]

/run-unit-test tidb-test=pr/723

[lysu]

/run-all-tests tidb-test=pr/723

[lysu]

/run-unit-test tidb-test=pr/723

[lysu]

/run-unit-test tidb-test=pr/723

[lysu]

/run-unit-test tidb-test=pr/723

[lysu]

/run-all-tests tidb-test=pr/723

[jackysp]

LGTM

[lysu]

/run-common-test tidb-test=pr/723
/run-unit-test tidb-test=pr/723

[lysu]

@tiancaiamao PTAL

[tiancaiamao]

LGTM

[codecov-io]

Codecov Report

Merging #9103 into master will decrease coverage by <.01%.
The diff coverage is 5.55%.

@@            Coverage Diff             @@
##           master    #9103      +/-   ##
==========================================
- Coverage   67.21%   67.21%   -0.01%     
==========================================
  Files         371      371              
  Lines       76933    76942       +9     
==========================================
+ Hits        51714    51718       +4     
- Misses      20602    20608       +6     
+ Partials     4617     4616       -1

Impacted Files	Coverage Δ
session/session.go	72.35% <0%> (ø)	⬆️
expression/simple_rewriter.go	14.83% <0%> (ø)	⬆️
executor/prepared.go	63.5% <0%> (ø)	⬆️
util/misc.go	42.85% <0%> (-11.69%)	⬇️
table/tables/gen_expr.go	76.92% <100%> (ø)	⬆️
executor/join.go	79.42% <0%> (+0.52%)	⬆️
ddl/delete_range.go	80.42% <0%> (+1.05%)	⬆️

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[AndrewDi]

@tiancaiamao It seems like this PR has broken Integration Test:

FAIL: integration_test.go:3735: testIntegrationSuite.TestUnknowHintIgnore

integration_test.go:3740:
    tk.MustQuery("show warnings").Check(testkit.Rows("Warning 1064 You have an error in your SQL syntax; check the manual that corresponds to your TiDB version for the right syntax to use line 1 column 29 near \"unknown_hint(c1)*/ 1\" "))
/home/andrew/Developer/Go/src/github.com/pingcap/tidb/util/testkit/testkit.go:55:
    res.c.Assert(resBuff.String(), check.Equals, needBuff.String(), res.comment)
... obtained string = "[Warning 1064 You have an error in your SQL syntax; check the manual that corresponds to your TiDB version for the right syntax to use near 'line 1 column 29 near \"select /*+ unknown_hint(c1)*/ 1\" (total length 31)' at line %!d(MISSING)]\n"
... expected string = "[Warning 1064 You have an error in your SQL syntax; check the manual that corresponds to your TiDB version for the right syntax to use line 1 column 29 near \"unknown_hint(c1)*/ 1\" ]\n"
... sql:show warnings, args:[]