[SPARK-4859][Core][Streaming] Improve LiveListenerBus and StreamingListenerBus

Changes to LiveListenerBus and StreamingListenerBus:
* Fix the race condition of `queueFullErrorMessageLogged`.
* Make sure the SHUTDOWN message will be delivered to `listenerThread`.

Changes only to StreamingListenerBus:
* Log the error from listener rather than crashing `listenerThread`.
Some cost, of cause. But comparing to the lock in `eventQueue.offer`, I would like to say it can be ignored.