Standalone Scheduler fault tolerance using ZooKeeper

This patch implements full distributed fault tolerance for standalone scheduler Masters.
There is only one master Leader at a time, which is actively serving scheduling
requests. If this Leader crashes, another master will eventually be elected, reconstruct
the state from the first Master, and continue serving scheduling requests.

Leader election is performed using the ZooKeeper leader election pattern. We try to minimize
the use of ZooKeeper and the assumptions about ZooKeeper's behavior, so there is a layer of
retries and session monitoring on top of the ZooKeeper client.

Master failover follows directly from the single-node Master recovery via the file
system (patch d5a96fe), save that the Master state is stored in ZooKeeper instead.

Configuration:
By default, no recovery mechanism is enabled (spark.deploy.recoveryMode = NONE).
By setting spark.deploy.recoveryMode to ZOOKEEPER and setting spark.deploy.zookeeper.url
to an appropriate ZooKeeper URL, ZooKeeper recovery mode is enabled.
By setting spark.deploy.recoveryMode to FILESYSTEM and setting spark.deploy.recoveryDirectory
to an appropriate directory accessible by the Master, we will keep the behavior of from d5a96fe.

Additionally, places where a Master could be specificied by a spark:// url can now take
comma-delimited lists to specify backup masters. Note that this is only used for registration
of NEW Workers and application Clients. Once a Worker or Client has registered with the
Master Leader, it is "in the system" and will never need to register again.