[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`.
`eventQueue.take` will block until the queue is not empty. So if we don't use `eventQueue.poll` like `LiveListenerBus`, we still need to use `StreamingListenerShutdown`.