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BigQuery: Raise helpful error when loading table from dataframe with STRUCT columns (googleapis#9053)
* Issue warning if no schema when loading from DF
* Raise error if serializing DF with struct fields
* Rewrite test assertion to make coverage happy
* Make the unsupported type message more general
* Remove warning on missing schema
The warning will be added once the support for partial schemas and
automatic schema detection is implemented.
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