fix: don't log out to stderr on parser errors (#3052)

By default the lexer and parser log out to stderr. This change removes these default error handlers in favour of ones that throw exceptions.

ksql-parser/src/main/java/io/confluent/ksql/parser/SchemaParser.java

@@ -44,7 +44,7 @@ public static TableElements parse(final String schema) {
     final CommonTokenStream tokStream = new CommonTokenStream(lexer);
     final SqlBaseParser parser = new SqlBaseParser(tokStream);
 
-    parser.addErrorListener(new BaseErrorListener() {
+    final BaseErrorListener errorListener = new BaseErrorListener() {
       @Override
       public void syntaxError(
           final Recognizer<?, ?> recognizer,
@@ -61,7 +61,13 @@ public void syntaxError(
                 msg),
             e);
       }
-    });
+    };
+
+    lexer.removeErrorListeners();
+    lexer.addErrorListener(errorListener);
+
+    parser.removeErrorListeners();
+    parser.addErrorListener(errorListener);
 
     final List<TableElement> elements = parser.tableElements().tableElement()
         .stream()