[SPARK-24658][SQL] Remove workaround for ANTLR bug

## What changes were proposed in this pull request?

Issue antlr/antlr4#781 has already been fixed, so the workaround of extracting the pattern into a separate rule is no longer needed. The presto already removed it: prestodb/presto#10744.

## How was this patch tested?

Existing tests

Author: Yuming Wang <yumwang@ebay.com>

Closes #21641 from wangyum/ANTLR-780.

sql/catalyst/src/main/antlr4/org/apache/spark/sql/catalyst/parser/SqlBase.g4

@@ -539,18 +539,11 @@ expression
 booleanExpression
     : NOT booleanExpression                                        #logicalNot
     | EXISTS '(' query ')'                                         #exists
-    | predicated                                                   #booleanDefault
+    | valueExpression predicate?                                   #predicated
     | left=booleanExpression operator=AND right=booleanExpression  #logicalBinary
     | left=booleanExpression operator=OR right=booleanExpression   #logicalBinary
     ;
 
-// workaround for:
-//  https://github.com/antlr/antlr4/issues/780
-//  https://github.com/antlr/antlr4/issues/781
-predicated
-    : valueExpression predicate?
-    ;
-
 predicate
     : NOT? kind=BETWEEN lower=valueExpression AND upper=valueExpression
     | NOT? kind=IN '(' expression (',' expression)* ')'