[SPARK-3030] [PySpark] Reuse Python worker

Reuse Python worker to avoid the overhead of fork() Python process for each tasks. It also tracks the broadcasts for each worker, avoid sending repeated broadcasts.

This can reduce the time for dummy task from 22ms to 13ms (-40%). It can help to reduce the latency for Spark Streaming.

For a job with broadcast (43M after compress):
```
    b = sc.broadcast(set(range(30000000)))
    print sc.parallelize(range(24000), 100).filter(lambda x: x in b.value).count()
```
It will finish in 281s without reused worker, and it will finish in 65s with reused worker(4 CPUs). After reusing the worker, it can save about 9 seconds for transfer and deserialize the broadcast for each tasks.

It's enabled by default, could be disabled by `spark.python.worker.reuse = false`.
Yes, we will always send valid bids. This is for cases that _broadcastRegistry was cleared by others, it's not necessary.

Do we need to change this to `remove(bid)` for readability?