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GH-34284: [Java][FlightRPC] Fixed issue with prepared statement getting sent twice (#34358)

### Rationale for this change

The `AvaticaConnection` class within the Calcite library [executes](https://github.com/apache/calcite-avatica/blob/b57eb7cd31a90d3f46b65c13832b398be5b0dad9/core/src/main/java/org/apache/calcite/avatica/AvaticaConnection.java#L357) the `prepareStatement(...)` function on a DB connection in the following order:
1. Calls `prepare()` on the `MetaImpl` class, which in our case is `ArrowFlightMetaImpl`. This function executes a command and returns a prepared statement.
2. Calls `newPreparedStatement` on the JDBC factory class, which in our case is `ArrowFlightJdbcFactory`. This function today creates an entirely new `PreparedStatement` without checking the statement cache, thereby causing 2 executions.

This PR fixes the issue by checking whether or not the `StatementHandle` has been recorded before, and if so, uses the results of the previously executed command. If not, it creates a brand new `PreparedStatement`.

My understanding is that `ConcurrentHashMap` (which is what is being used to keep a mapping of statement handles to prepared statements) is eventually consistent, so there _may_ be cases where the prepared statement execution runs twice.

### What changes are included in this PR?
Check to see if the `PreparedStatement` has run before, and if so, use that instead of executing the command to contact the server again.

### Are these changes tested?

Existing tests should cover this case. Namely, `ArrowFlightPreparedStatementTest` I _think_ should cover all cases.

### Are there any user-facing changes?
There are no user facing changes.
* Closes: #34284

Authored-by: Ramasai <ramasai.tadepalli+3108@gmail.com>
Signed-off-by: David Li <li.davidm96@gmail.com>