[SPARK-4006] In long running contexts, we encountered the situation of double registe...

...r without a remove in between. The cause for that is unknown, and assumed a temp network issue.

However, since the second register is with a BlockManagerId on a different port, blockManagerInfo.contains() returns false, while blockManagerIdByExecutor returns Some. This inconsistency is caught in a conditional statement that does System.exit(1), which is a huge robustness issue for us.

The fix - simply remove the old id from both maps during register when this happens. We are mimicking the behavior of expireDeadHosts(), by doing local cleanup of the maps before trying to add new ones.

Also - added some logging for register and unregister.

This is just like https://github.com/apache/spark/pull/2854 except it's on master
Could you write this in string interpolation or formatting so it's easier to read
e.g. `s"new ID $id"` or `"new ID %s".format(id)"`