[SPARK-4236] Cleanup removed applications' files in shuffle service

This relies on a hook from whoever is hosting the shuffle service to invoke removeApplication() when the application is completed. Once invoked, we will clean up all the executors' shuffle directories we know about.

Author: Aaron Davidson <aaron@databricks.com>

Closes #3126 from aarondav/cleanup and squashes the following commits:

33a64a9 [Aaron Davidson] Missing brace
e6e428f [Aaron Davidson] Address comments
16a0d27 [Aaron Davidson] Cleanup
e4df3e7 [Aaron Davidson] [SPARK-4236] Cleanup removed applications' files in shuffle service