[SPARK-4859][Core][Streaming] Improve LiveListenerBus and StreamingListenerBus

Changes to LiveListenerBus and StreamingListenerBus:
* Fix the race condition of `queueFullErrorMessageLogged`.
* Make sure the SHUTDOWN message will be delivered to `listenerThread`.

Changes only to StreamingListenerBus:
* Log the error from listener rather than crashing `listenerThread`.
Nit: Can you add a comment mentioning why you used an iterator so that this does not regress in the future. This is quite subtle.