[SPARK-2044] Pluggable interface for shuffles

This is a first cut at moving shuffle logic behind a pluggable interface, as described at https://issues.apache.org/jira/browse/SPARK-2044, to let us more easily experiment with new shuffle implementations. It moves the existing shuffle code to a class HashShuffleManager behind a general ShuffleManager interface.

Two things are still missing to make this complete:
* MapOutputTracker needs to be hidden behind the ShuffleManager interface; this will also require adding methods to ShuffleManager that will let the DAGScheduler interact with it as it does with the MapOutputTracker today
* The code to do map-sides and reduce-side combine in ShuffledRDD, PairRDDFunctions, etc needs to be moved into the ShuffleManager's readers and writers

However, some of these may also be done later after we merge the current interface.

Author: Matei Zaharia <matei@databricks.com>

Closes #1009 from mateiz/pluggable-shuffle and squashes the following commits:

7a09862 [Matei Zaharia] review comments
be33d3f [Matei Zaharia] review comments
1513d4e [Matei Zaharia] Add ASF header
ac56831 [Matei Zaharia] Bug fix and better error message
4f681ba [Matei Zaharia] Move write part of ShuffleMapTask to ShuffleManager
f6f011d [Matei Zaharia] Move hash shuffle reader behind ShuffleManager interface
55c7717 [Matei Zaharia] Changed RDD code to use ShuffleReader
75cc044 [Matei Zaharia] Partial work to move hash shuffle in