GH-50000: [C++][FlightRPC] Use grpcpp/grpcpp.h not grpcpp/version_info.h for old gRPC (#50001)

### Rationale for this change

`gRPC 1.51.0` introduced `grpcpp/version_info.h`. Since we also use older versions we should guard against import in case of older version.

### What changes are included in this PR?

Use `grpcpp/grpcpp.h` not `grpcpp/version_info.h`. `grpcpp/grpcpp.h` is provided by old gRPC.

### Are these changes tested?

By CI.

### Are there any user-facing changes?

No.
* GitHub Issue: #50000

Authored-by: Rok Mihevc <rok@mihevc.org>
Signed-off-by: Sutou Kouhei <kou@clear-code.com>

Author: rok

cpp/src/arrow/flight/transport/grpc/util_internal.h

@@ -17,18 +17,23 @@
 
 #pragma once
 
-#include <grpcpp/version_info.h>
+#include <grpcpp/grpcpp.h>
 
 #include "arrow/flight/transport/grpc/protocol_grpc_internal.h"
 #include "arrow/flight/types.h"
 #include "arrow/flight/visibility.h"
 #include "arrow/util/macros.h"
 
-#define GRPC_CPP_VERSION_CHECK(major, minor, patch)                             \
-  ((GRPC_CPP_VERSION_MAJOR > (major) ||                                         \
-    (GRPC_CPP_VERSION_MAJOR == (major) && GRPC_CPP_VERSION_MINOR > (minor)) ||  \
-    ((GRPC_CPP_VERSION_MAJOR == (major) && GRPC_CPP_VERSION_MINOR == (minor) && \
-      GRPC_CPP_VERSION_PATCH >= (patch)))))
+// gRPC 1.51.0 or later defines GRPC_CPP_VERSION_MAJOR and so on.
+#ifdef GRPC_CPP_VERSION_MAJOR
+#  define GRPC_CPP_VERSION_CHECK(major, minor, patch)                             \
+    ((GRPC_CPP_VERSION_MAJOR > (major) ||                                         \
+      (GRPC_CPP_VERSION_MAJOR == (major) && GRPC_CPP_VERSION_MINOR > (minor)) ||  \
+      ((GRPC_CPP_VERSION_MAJOR == (major) && GRPC_CPP_VERSION_MINOR == (minor) && \
+        GRPC_CPP_VERSION_PATCH >= (patch)))))
+#else
+#  define GRPC_CPP_VERSION_CHECK(major, minor, patch) 0
+#endif
 
 #if GRPC_CPP_VERSION_CHECK(1, 80, 0)
 #  include <absl/status/status.h>