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ARROW-6637: [C++] Further streamline default build, add ARROW_CSV CMake option

* Default for ARROW_COMPUTE/DATASET/FILESYSTEM/JSON set to OFF
* Add ARROW_CSV option, set to OFF by default (I could be swayed about this, but I think it is good to not create the perception that users are forced to build a module they don't need)
* Disable unit tests that don't build if ARROW_COMPUTE=OFF

The minimal Docker build now outputs

https://gist.github.com/wesm/ff70f46f5bc256d6b1d7b979aab8e5d0

The minimal build time on my 8-core laptop is reduced from 72 seconds to 25 seconds. Here is the log for the default build (with jemalloc turned off) without this patch

https://gist.github.com/wesm/fb5300a1989420158b0148e1c49ab6d6

Note that the default for ARROW_JEMALLOC is left to ON. I agree based on other discussion that having it off by default might cause developers doing performance testing to draw the wrong conclusions due to worse performance from the system allocator.

TODO

- [ ] Check conda
- [ ] Check Homebrew
- [ ] Check wheels
- [ ] Check Linux packages

Closes #5890 from wesm/more-minimal-default-build and squashes the following commits:

3fde8c4fc <Wes McKinney> Do not pass ARROW_HDFS twice in ci/PKGBUILD
b0de54927 <Wes McKinney> Fix PKGBUILD, add documentation to developers/cpp.rst, fix manylinux wheel READMEs
99640e1a9 <Wes McKinney> Many modules are implied by ARROW_PYTHON=ON. Requires HDFS when building Python
93b8bca59 <Wes McKinney> Explicitly build optional modules in MSVC Appveyor script
439af405a <Wes McKinney> Enable various modules when ARROW_PYTHON=ON
e3058a895 <Wes McKinney> ARROW_COMPUTE required for arrow_python and parquet
48c16f01e <Wes McKinney> Build uriparser unconditionally as not worth the trouble to conditionally disable
cd381aaf7 <Wes McKinney> Provide for blanket env variable for minimal build script
9cbeabfb9 <Wes McKinney> More minimal default options, add ARROW_CSV CMake option

Authored-by: Wes McKinney <wesm+git@apache.org>
Signed-off-by: Sutou Kouhei <kou@clear-code.com>