[SPARK-3877][YARN] Throw an exception when application is not successful so that the exit code wil be set to 1

When an yarn application fails (yarn-cluster mode), the exit code of spark-submit is still 0. It's hard for people to write some automatic scripts to run spark jobs in yarn because the failure can not be detected in these scripts.

This PR added a status checking after `monitorApplication`. If an application is not successful, `run()` will throw an `SparkException`, so that Client.scala will exit with code 1. Therefore, people can use the exit code of `spark-submit` to write some automatic scripts.
nit: could you reword the message? Something like "Application finished with failed status."