SPARK-1154: Clean up app folders in worker nodes

This is a fix for [SPARK-1154](https://issues.apache.org/jira/browse/SPARK-1154).   The issue is that worker nodes fill up with a huge number of app-* folders after some time.  This change adds a periodic cleanup task which asynchronously deletes app directories older than a configurable TTL.

Two new configuration parameters have been introduced:
  spark.worker.cleanup_interval
  spark.worker.app_data_ttl

This change does not include moving the downloads of application jars to a location outside of the work directory.  We will address that if we have time, but that potentially involves caching so it will come either as part of this PR or a separate PR.

Author: Evan Chan <ev@ooyala.com>
Author: Kelvin Chu <kelvinkwchu@yahoo.com>

Closes #288 from velvia/SPARK-1154-cleanup-app-folders and squashes the following commits:

0689995 [Evan Chan] CR from @aarondav - move config, clarify for standalone mode
9f10d96 [Evan Chan] CR from @pwendell - rename configs and add cleanup.enabled
f2f6027 [Evan Chan] CR from @andrewor14
553d8c2 [Kelvin Chu] change the variable name to currentTimeMillis since it actually tracks in seconds
8dc9cb5 [Kelvin Chu] Fixed a bug in Utils.findOldFiles() after merge.
cb52f2b [Kelvin Chu] Change the name of findOldestFiles() to findOldFiles()
72f7d2d [Kelvin Chu] Fix a bug of Utils.findOldestFiles(). file.lastModified is returned in milliseconds.
ad99955 [Kelvin Chu] Add unit test for Utils.findOldestFiles()
dc1a311 [Evan Chan] Don't recompute current time with every new file
e3c408e [Evan Chan] Document the two new settings
b92752b [Evan Chan] SPARK-1154: Add a periodic task to clean up app directories