[SPARK-3772] Allow `ipython` to be used by Pyspark workers; IPython support improvements:

This pull request addresses a few issues related to PySpark's IPython support:

- Fix the remaining uses of the '-u' flag, which IPython doesn't support (see SPARK-3772).
- Change PYSPARK_PYTHON_OPTS to PYSPARK_DRIVER_PYTHON_OPTS, so that the old name is reserved in case we ever want to allow the worker Python options to be customized (this variable was introduced in #2554 and hasn't landed in a release yet, so this doesn't break any compatibility).
- Introduce a PYSPARK_DRIVER_PYTHON option that allows the driver to use `ipython` while the workers use a different Python version.
- Attempt to use Python 2.7 by default if PYSPARK_PYTHON is not specified.
- Retain the old semantics for IPYTHON=1 and IPYTHON_OPTS (to avoid breaking existing example programs).

There are more details in a block comment in `bin/pyspark`.

Author: Josh Rosen <joshrosen@apache.org>

Closes #2651 from JoshRosen/SPARK-3772 and squashes the following commits:

7b8eb86 [Josh Rosen] More changes to PySpark python executable configuration:
c4f5778 [Josh Rosen] [SPARK-3772] Allow ipython to be used by Pyspark workers; IPython fixes: