[SPARK-2468] Netty based block server / client module

This is a rewrite of the original Netty module that was added about 1.5 years ago. The old code was turned off by default and didn't really work because it lacked a frame decoder (only worked with very very small blocks).

For this pull request, I tried to make the changes non-instrusive to the rest of Spark. I only added an init and shutdown to BlockManager/DiskBlockManager, and a bunch of comments to help me understand the existing code base.

Compared with the old Netty module, this one features:
- It appears to work :)
- SPARK-2941: option to specicy nio vs oio vs epoll for channel/transport. By default nio is used. (Not using Epoll yet because I have found some bugs with its implementation)
- SPARK-2943: options to specify send buf and receive buf for users who want to do hyper tuning
- SPARK-2942: io errors are reported from server to client (the protocol uses negative length to indicate error)
- SPARK-2940: fetching multiple blocks in a single request to reduce syscalls
- SPARK-2959: clients share a single thread pool
- SPARK-2990: use PooledByteBufAllocator to reduce GC (basically a Netty managed pool of buffers with jmalloc)
- SPARK-2367: bump Netty version to 4.0.21.Final to address an Epoll bug (https://groups.google.com/forum/#!topic/netty/O7m-HxCJpCA)

Compared with the existing communication manager, this one features:
- IMO it is substantially easier to understand
- zero-copy send for the server for on-disk blocks
- one-copy receive (due to a frame decoder)
- don't quote me on this, but I think a lot less sys calls
- SPARK-2990: use PooledByteBufAllocator to reduce GC (basically a Netty managed pool of buffers with jmalloc)
- SPARK-2941: option to specicy nio vs oio vs epoll for channel/transport. By default nio is used. (Not using Epoll yet because I have found some bugs with its implementation)
- SPARK-2943: options to specify send buf and receive buf for users who want to do hyper tuning

TODOs before it can fully replace the existing ConnectionManager, if that ever happens (most of them should probably be done in separate PRs since this needs to be turned on explicitly)
- [x] Basic test cases
- [ ] More unit/integration tests for failures
- [ ] Performance analysis
- [ ] Support client connection reuse so we don't need to keep opening new connections (not sure how useful this would be)
- [ ] Support putting blocks in addition to fetching blocks (i.e. two way transfer)
- [x] Support serving non-disk blocks
- [ ] Support SASL authentication

For a more comprehensive list, see https://issues.apache.org/jira/browse/SPARK-2468

Thanks to @coderplay for peer coding with me on a Sunday.

That said, I am not sure if shuffle.io is the best name either. This will also be used for non-shuffle stuff (like reading remote blocks). Maybe we should call it `spark.blockServer.io.port` ?