[SPARK-1615] Synchronize accesses to the LiveListenerBus' event queue

Much of SparkListenerSuite relies on LiveListenerBus's `waitUntilEmpty()` method. As the name suggests, this waits until the event queue is empty. However, the following race condition could happen:

(1) We dequeue an event
(2) The queue is empty, we return true (even though the event has not been processed)
(3) The test asserts something assuming that all listeners have finished executing (and fails)
(4) The listeners receive and process the event

This has been a possible race condition for a long time, but for some reason we've never run into it.

This PR makes (1) and (4) atomic by synchronizing around it. To do that, however, we must avoid using `eventQueue.take`, which is blocking and will cause a deadlock if we synchronize around it. As a workaround, we use the non-blocking `eventQueue.poll` + a semaphore to provide the same semantics.