[SPARK-4019] [SPARK-3740] Fix MapStatus compression bug that could lead to empty results or Snappy errors

This commit fixes a bug in MapStatus that could cause jobs to wrongly return
empty results if those jobs contained stages with more than 2000 partitions
where most of those partitions were empty.

For jobs with > 2000 partitions, MapStatus uses HighlyCompressedMapStatus,
which only stores the average size of blocks.  If the average block size is
zero, then this will cause all blocks to be reported as empty, causing
BlockFetcherIterator to mistakenly skip them.

For example, this would return an empty result:

    sc.makeRDD(0 until 10, 1000).repartition(2001).collect()

This can also lead to deserialization errors (e.g. Snappy decoding errors)
for jobs with > 2000 partitions where the average block size is non-zero but
there is at least one empty block.  In this case, the BlockFetcher attempts to
fetch empty blocks and fails when trying to deserialize them.

The root problem here is that MapStatus has a (previously undocumented)
correctness property that was violated by HighlyCompressedMapStatus:

    If a block is non-empty, then getSizeForBlock must be non-zero.

I fixed this by modifying HighlyCompressedMapStatus to store the average size
of _non-empty_ blocks and to use a compressed bitmap to track which blocks are
empty.

I also removed a test which was broken as originally written: it attempted
to check that HighlyCompressedMapStatus's size estimation error was < 10%,
but this was broken because HighlyCompressedMapStatus is only used for map
statuses with > 2000 partitions, but the test only created 50.
I feel like this is describing implementation details rather than how to use this method, so it feels inappropriate to put it in Javadoc.