[SPARK-4204][Core][WebUI] Change Utils.exceptionString to contain the inner exceptions and make the error information in Web UI more friendly

This PR fixed `Utils.exceptionString` to output the full exception information. However, the stack trace may become very huge, so I also updated the Web UI to collapse the error information by default (display the first line and clicking `+detail` will display the full info).

Here are the screenshots:

Stages:
![stages](https://cloud.githubusercontent.com/assets/1000778/4882441/66d8cc68-6356-11e4-8346-6318677d9470.png)

Details for one stage:
![stage](https://cloud.githubusercontent.com/assets/1000778/4882513/1311043c-6357-11e4-8804-ca14240a9145.png)

The full information in the gray text field is: 
```Java
org.apache.spark.shuffle.FetchFailedException: Connection reset by peer
	at org.apache.spark.shuffle.hash.BlockStoreShuffleFetcher$.org$apache$spark$shuffle$hash$BlockStoreShuffleFetcher$$unpackBlock$1(BlockStoreShuffleFetcher.scala:67)
	at org.apache.spark.shuffle.hash.BlockStoreShuffleFetcher$$anonfun$3.apply(BlockStoreShuffleFetcher.scala:83)
	at org.apache.spark.shuffle.hash.BlockStoreShuffleFetcher$$anonfun$3.apply(BlockStoreShuffleFetcher.scala:83)
	at scala.collection.Iterator$$anon$13.hasNext(Iterator.scala:371)
	at org.apache.spark.util.CompletionIterator.hasNext(CompletionIterator.scala:30)
	at org.apache.spark.InterruptibleIterator.hasNext(InterruptibleIterator.scala:39)
	at scala.collection.Iterator$$anon$11.hasNext(Iterator.scala:327)
	at scala.collection.Iterator$$anon$11.hasNext(Iterator.scala:327)
	at org.apache.spark.util.collection.ExternalAppendOnlyMap.insertAll(ExternalAppendOnlyMap.scala:129)
	at org.apache.spark.rdd.CoGroupedRDD$$anonfun$compute$5.apply(CoGroupedRDD.scala:160)
	at org.apache.spark.rdd.CoGroupedRDD$$anonfun$compute$5.apply(CoGroupedRDD.scala:159)
	at scala.collection.TraversableLike$WithFilter$$anonfun$foreach$1.apply(TraversableLike.scala:772)
	at scala.collection.mutable.ResizableArray$class.foreach(ResizableArray.scala:59)
	at scala.collection.mutable.ArrayBuffer.foreach(ArrayBuffer.scala:47)
	at scala.collection.TraversableLike$WithFilter.foreach(TraversableLike.scala:771)
	at org.apache.spark.rdd.CoGroupedRDD.compute(CoGroupedRDD.scala:159)
	at org.apache.spark.rdd.RDD.computeOrReadCheckpoint(RDD.scala:263)
	at org.apache.spark.rdd.RDD.iterator(RDD.scala:230)
	at org.apache.spark.rdd.MappedValuesRDD.compute(MappedValuesRDD.scala:31)
	at org.apache.spark.rdd.RDD.computeOrReadCheckpoint(RDD.scala:263)
	at org.apache.spark.rdd.RDD.iterator(RDD.scala:230)
	at org.apache.spark.rdd.FlatMappedValuesRDD.compute(FlatMappedValuesRDD.scala:31)
	at org.apache.spark.rdd.RDD.computeOrReadCheckpoint(RDD.scala:263)
	at org.apache.spark.rdd.RDD.iterator(RDD.scala:230)
	at org.apache.spark.scheduler.ResultTask.runTask(ResultTask.scala:61)
	at org.apache.spark.scheduler.Task.run(Task.scala:56)
	at org.apache.spark.executor.Executor$TaskRunner.run(Executor.scala:189)
	at java.util.concurrent.ThreadPoolExecutor$Worker.runTask(ThreadPoolExecutor.java:886)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:908)
	at java.lang.Thread.run(Thread.java:662)
Caused by: java.io.IOException: Connection reset by peer
	at sun.nio.ch.FileDispatcher.read0(Native Method)
	at sun.nio.ch.SocketDispatcher.read(SocketDispatcher.java:21)
	at sun.nio.ch.IOUtil.readIntoNativeBuffer(IOUtil.java:198)
	at sun.nio.ch.IOUtil.read(IOUtil.java:166)
	at sun.nio.ch.SocketChannelImpl.read(SocketChannelImpl.java:245)
	at io.netty.buffer.PooledUnsafeDirectByteBuf.setBytes(PooledUnsafeDirectByteBuf.java:311)
	at io.netty.buffer.AbstractByteBuf.writeBytes(AbstractByteBuf.java:881)
	at io.netty.channel.socket.nio.NioSocketChannel.doReadBytes(NioSocketChannel.java:225)
	at io.netty.channel.nio.AbstractNioByteChannel$NioByteUnsafe.read(AbstractNioByteChannel.java:119)
	at io.netty.channel.nio.NioEventLoop.processSelectedKey(NioEventLoop.java:511)
	at io.netty.channel.nio.NioEventLoop.processSelectedKeysOptimized(NioEventLoop.java:468)
	at io.netty.channel.nio.NioEventLoop.processSelectedKeys(NioEventLoop.java:382)
	at io.netty.channel.nio.NioEventLoop.run(NioEventLoop.java:354)
	at io.netty.util.concurrent.SingleThreadEventExecutor$2.run(SingleThreadEventExecutor.java:116)
	... 1 more
```

/cc @aarondav
Since this is `@DeveloperApi` (and thus technically public), we can't change it in an incompatible way unless there's a really good reason, and it's even worse because it's a case class (so even providing a backwards-compatible constructor is insufficient). We could, however, do something of this form:

```scala
case class ExeceptionFailure(
    className: String,
    description: String,
    stackTrace: Array[StackTraceElement],
    metrics: Option[TaskMetrics])
  extends TaskFailedReason {

  // Original behavior preserved for backwards compatibility.
  private var errorString = Utils.exceptionString(className, description, stackTrace)

  /** Overrides the stack trace message with a full (recursive) stack trace. */
  private[spark] def setFullStackTrace(fullStackTrace: String): this.type = {
    errorString = fullStackTrace
    this
  }

  override def toErrorString: String = errorString
}
```