## What changes were proposed in this pull request?

TaskContext supports task completion callback, which gets called regardless of task failures. However, there is no way for the listener to know if there is an error. This patch adds a new listener that gets called when a task fails.

## How was the this patch tested?
New unit test case and integration test case covering the code path

Author: Reynold Xin <rxin@databricks.com>

Closes #11340 from rxin/SPARK-13465.