[SPARK-4062][Streaming]Add ReliableKafkaReceiver in Spark Streaming Kafka connector

Add ReliableKafkaReceiver in Kafka connector to prevent data loss if WAL in Spark Streaming is enabled. Details and design doc can be seen in [SPARK-4062](https://issues.apache.org/jira/browse/SPARK-4062).
Can you use `o.a.spark.util.Utils.newDaemonFixedThreadPool()` for this so that the thread's get nice names (easier to debug in jstack)