[SPARK-4857] [CORE] Adds Executor membership events to SparkListener

Adds onExecutorAdded and onExecutorRemoved events to the SparkListener. This will allow a client to get notified when an executor has been added/removed and provide additional information such as how many vcores it is consuming.

In addition, this commit adds a SparkListenerAdapter to the Java API that provides default implementations to the SparkListener. This is to get around the fact that default implementations for traits don't work in Java. Having Java clients extend SparkListenerAdapter moving forward will prevent breakage in java when we add new events to SparkListener.
Do you think that we should add a more explicit note regarding binary compatibility?  Doesn't have to be part of this PR necessarily.