[SPARK-1946] Submit stage after (configured ratio) executors have been registered

Because creating TaskSetManager and registering executors are asynchronous, in most situation, early stages' tasks run without preferred locality.

A simple solution is sleeping few seconds in application, so that executors have enough time to register.

The PR add 2 configuration properties to make DAGScheduler submit stage after a few of executors have been registered. 

\# Submit stage only after (registered executors / total executors) arrived the ratio, default value is 0 
spark.scheduler.minRegisteredExecutorsRatio = 0.8

\# Whatever minRegisteredExecutorsRatio is arrived, submit stage after the maxRegisteredWaitingTime(millisecond), default value is 30000
spark.scheduler.maxRegisteredExecutorsWaitingTime = 5000
@tgravescs added.