[SPARK-3795] Heuristics for dynamically scaling executors

This is part of a bigger effort to provide elastic scaling of executors within a Spark application ([SPARK-3174](https://issues.apache.org/jira/browse/SPARK-3174)). This PR does not provide any functionality by itself; it is a skeleton that is missing a mechanism to be added later in [SPARK-3822](https://issues.apache.org/jira/browse/SPARK-3822).

Comments and feedback are most welcome. For those of you reviewing this in detail, I highly recommend doing it through your favorite IDE instead of through the diff here.

Author: Andrew Or <andrewor14@gmail.com>
Author: Andrew Or <andrew@databricks.com>

Closes #2746 from andrewor14/scaling-heuristics and squashes the following commits:

8a4fdaa [Andrew Or] Merge branch 'master' of github.com:apache/spark into scaling-heuristics
e045df8 [Andrew Or] Add warning message (minor)
dfa31ec [Andrew Or] Fix tests
c0becc4 [Andrew Or] Merging with SPARK-3822
4784f93 [Andrew Or] Reword an awkward log message
181f27f [Andrew Or] Merge branch 'master' of github.com:apache/spark into scaling-heuristics
c79e907 [Andrew Or] Merge branch 'master' of github.com:apache/spark into scaling-heuristics
4672b90 [Andrew Or] It's nano time.
a6a30f2 [Andrew Or] Do not allow min/max executors of 0
c60ec33 [Andrew Or] Rewrite test logic with clocks
b00b680 [Andrew Or] Fix style
c3caa65 [Andrew Or] Merge branch 'master' of github.com:apache/spark into scaling-heuristics
7f9da14 [Andrew Or] Factor out logic to verify bounds on # executors (minor)
f279019 [Andrew Or] Add time mocking tests for polling loop
685e347 [Andrew Or] Factor out clock in polling loop to facilitate testing
3cea7f7 [Andrew Or] Use PrivateMethodTester to keep original class private
3156d81 [Andrew Or] Update comments and exception messages
92f36f9 [Andrew Or] Address minor review comments
abdea61 [Andrew Or] Merge branch 'master' of github.com:apache/spark into scaling-heuristics
2aefd09 [Andrew Or] Correct listener behavior
9fe6e44 [Andrew Or] Rename variables and configs + update comments and log messages
149cc32 [Andrew Or] Fix style
254c958 [Andrew Or] Merge branch 'master' of github.com:apache/spark into scaling-heuristics
5ff829b [Andrew Or] Add tests for ExecutorAllocationManager
19c6c4b [Andrew Or] Merge branch 'master' of github.com:apache/spark into scaling-heuristics
5896515 [Andrew Or] Move ExecutorAllocationManager out of scheduler package
9ca8945 [Andrew Or] Rewrite callbacks through the listener interface
5e336b9 [Andrew Or] Remove code from backend to avoid conflict with SPARK-3822
092d1fd [Andrew Or] Remove timeout logic for pending requests
1309fab [Andrew Or] Request executors by specifying the number pending
8bc0e9d [Andrew Or] Add logic to expire pending requests after timeouts
b750ee1 [Andrew Or] Express timers in terms of expiration times + remove retry logic
7f8dd47 [Andrew Or] Merge branch 'master' of github.com:apache/spark into scaling-heuristics
9d516cc [Andrew Or] Bug fix: Actually trigger the add timer / add retry timer
44f1832 [Andrew Or] Rename configs to include time units
eaae7ef [Andrew Or] Address various review comments
6f8be6c [Andrew Or] Beef up comments on what each of the timers mean
baaa403 [Andrew Or] Simplify variable names (minor)
42beec8 [Andrew Or] Reset whether the add threshold is crossed on cancellation
9bcc0bc [Andrew Or] ExecutorScalingManager -> ExecutorAllocationManager
2784398 [Andrew Or] Merge branch 'master' of github.com:apache/spark into scaling-heuristics
5a97d9e [Andrew Or] Log retry attempts in INFO + clean up logging
2f55c9f [Andrew Or] Do not keep requesting executors even after max attempts
0acd1cb [Andrew Or] Rewrite timer logic with polling
b3c7d44 [Andrew Or] Start the retry timer for adding executors at the right time
9b5f2ea [Andrew Or] Wording changes in comments and log messages
c2203a5 [Andrew Or] Simplify code to access the scheduler backend
e519d08 [Andrew Or] Simplify initialization code
2cc87a7 [Andrew Or] Add retry logic for removing executors
d0b34a6 [Andrew Or] Add retry logic for adding executors
9cc4649 [Andrew Or] Simplifying synchronization logic
67c03c7 [Andrew Or] Correct semantics of adding executors + update comments
6c48ab0 [Andrew Or] Update synchronization comment
8901900 [Andrew Or] Simplify remove policy + change the semantics of add policy
1cc8444 [Andrew Or] Minor wording change
ae5b64a [Andrew Or] Add synchronization
20ec6b9 [Andrew Or] First cut implementation of removing executors dynamically
4077ae2 [Andrew Or] Minor code re-organization
6f1fa66 [Andrew Or] First cut implementation of adding executors dynamically
b2e6dcc [Andrew Or] Add skeleton interface for requesting / killing executors
[SPARK-4053][Streaming] Made the ReceiverSuite test more reliable, by fixing block generator throttling

In the unit test that checked whether blocks generated by throttled block generator had expected number of records, the thresholds are too tight, which sometimes led to the test failing.
This PR fixes it by relaxing the thresholds and the time intervals for testing.

Author: Tathagata Das <tathagata.das1565@gmail.com>

Closes #2900 from tdas/receiver-suite-flakiness and squashes the following commits:

28508a2 [Tathagata Das] Made the ReceiverSuite test more reliable
Make the result of AVG on Decimals be Decimal, not Double
Add optional precision and scale to DecimalType, but use Unlimited for now

Implement CAST to fixed-precision decimal

Add rules for propagating precision through decimal calculations

These work by casting things to Decimal.Unlimited to do the actual
operation, then adding a cast on the result. They will result in more
casts than needed, but on the other hand they avoid having each
arithmetic operator know about decimal precision rules. We might be able
to add more rules later to eliminate some intermediate casts.
Added mutable Decimal that will be more efficient for small precisions

Optimize sums and averages on fixed-precision Decimals
Some test and bug fixes
Support decimal precision/scale in Hive metastore
Fix compile error after rebase
Fix build for Hive 0.12
Fix bug introduced by merge
Fix decimal support in PySpark