feat(c++): Find a better uri parser for GraphAr, remove the rely on arrow::internal::URI

[acezen]

Is your feature request related to a problem? Please describe.
currently, we use arrow::internal::URI to parse and check the uri string, but it is part of the Apache Arrow C++ library's internal API, which is not intended for direct use by end-users. The internal API is subject to change without notice, and its use is not recommended for production code.

We should find a third-party URI parse library to replace the arrow::internal::URI.

Describe the solution you'd like
Since GraphAr has already rely on Boost library. To avoid include other dependency, it's better to use Boost::URL.

Boost::URL in not available in boost library before 2023, considering use a light-weight single header parser like simple-uri-parser