[SPARK-1749] Job cancellation when SchedulerBackend does not implement killTask

This is a fixed up version of #686 (cc @markhamstra @pwendell).  The last commit (the only one I authored) reflects the changes I made from Mark's original patch.

Author: Mark Hamstra <markhamstra@gmail.com>
Author: Kay Ousterhout <kayousterhout@gmail.com>

Closes #1219 from kayousterhout/mark-SPARK-1749 and squashes the following commits:

42dfa7e [Kay Ousterhout] Got rid of terrible double-negative name
80b3205 [Kay Ousterhout] Don't notify listeners of job failure if it wasn't successfully cancelled.
d156d33 [Mark Hamstra] Do nothing in no-kill submitTasks
9312baa [Mark Hamstra] code review update
cc353c8 [Mark Hamstra] scalastyle
e61f7f8 [Mark Hamstra] Catch UnsupportedOperationException when DAGScheduler tries to cancel a job on a SchedulerBackend that does not implement killTask